Device error when using torch.set_default_device("cuda")

[RomDeffayet]

Hi,

due to small inconsistencies, I got an easily fixable device error when using torch.set_default_device

indeed in urdf.py, line 17 rpy = torch.tensor(origin.rpy, dtype=torch.float32) is set to the default device type, but on the next line the call to Transform3d uses the default device argument, which is 'cpu', causing a device error in Transform3d.init