#355 Add device parameter to UrdfRobotModel

[thomasweng15]

Motivation and Context

Existing Feature Request: #355

How Has This Been Tested

Updated tests in tests/embodied/kinematics/test_urdf_model.py.
The test currently defaults to device=cuda:0 if cuda exists: https://github.com/thomasweng15/theseus/blob/3faa926334584596684eaadf0f082c4950ee763e/tests/embodied/kinematics/test_urdf_model.py#L24.
But I have also tested with device=cpu.
In both cases the tests pass.

Types of changes

• Docs change / refactoring / dependency upgrade
• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• My code follows the code style of this project.
• My change requires a change to the documentation.
• I have updated the documentation accordingly.
• I have read the CONTRIBUTING document.
• I have completed my CLA (see CONTRIBUTING)
• I have added tests to cover my changes.
• All new and existing tests passed.

[mhmukadam]

Thanks for adding this. Looks good so far. We should add to() as discussed offline.

[thomasweng15]

from offline discussion -- to() requires changes to DRM upstream, current changes in PR are sufficient for running NGDF and can be merged.

[exhaustin]

One minor comment, looks good in general.
Thanks for adding!

[luisenp]

LGTM. Let's merge as is. I can add the changes discussed offline later today.