There could be a few reasons the pedal arms are dragging on the floor. Most common I think is they're out of adjustment (although this doesn't need to be done often). Each pedal is a two-piece affair and can be adjusted with a 5/8" wrench (outside the firewall...engine side). You'll see how the clutch and brake pedal rods connect with the swinging arms and it is all pretty self-explanatory. If your bushings are worn, they can be replaced. There is also a spring at one end which keeps them from wandering left/right.
If the whole she-bang has worn to the point that it needs to be rebuilt at the tube on which the bushings ride...well, anything is possible, but it is on the unlikely side of things. If you hold the swinging arms (you'll need to do this from under the cab) at the top where they attach to the pedal rods and try to rock them side to side in an arc, what happens? You ought not get much play at all doing this.
