Missing URDFs for MoMart

[jehanyang]

When following the Getting Started section on the MoMart website: https://sites.google.com/view/il-for-mm/datasets?authuser=0#h.k1p5xtsp5v0
I am running into issues with missing files and directories. Particularly the following error arises when I run the basic debug command python ~/robomimic/examples/train_bc_rnn.py --dataset_type momart --debug.

  File "/home/projectimit/robomimic/examples/train_bc_rnn.py", line 462, in <module>
    train(config, device=device)
  File "/home/projectimit/robomimic/robomimic/scripts/train.py", line 105, in train
    use_depth_obs=shape_meta["use_depths"],
  File "/home/projectimit/robomimic/robomimic/utils/env_utils.py", line 236, in create_env_from_metadata
    **env_kwargs,
  File "/home/projectimit/robomimic/robomimic/utils/env_utils.py", line 181, in create_env
    **kwargs,
  File "/home/projectimit/robomimic/robomimic/envs/env_ig_momart.py", line 127, in __init__
    device_idx=device_idx,
  File "/home/projectimit/iGibson_momart/gibson2/envs/semantic_organize_and_fetch.py", line 50, in __init__
    automatic_reset=automatic_reset,
  File "/home/projectimit/iGibson_momart/gibson2/envs/igibson_env.py", line 58, in __init__
    render_to_tensor=render_to_tensor)
  File "/home/projectimit/iGibson_momart/gibson2/envs/env_base.py", line 84, in __init__
    self.load()
  File "/home/projectimit/iGibson_momart/gibson2/envs/semantic_organize_and_fetch.py", line 61, in load
    super().load()
  File "/home/projectimit/iGibson_momart/gibson2/envs/igibson_env.py", line 214, in load
    super(iGibsonEnv, self).load()
  File "/home/projectimit/iGibson_momart/gibson2/envs/env_base.py", line 186, in load
    'scene_instance', None),
  File "/home/projectimit/iGibson_momart/gibson2/scenes/igibson_indoor_scene.py", line 109, in __init__
    self.scene_tree = ET.parse(self.scene_file)
  File "/home/projectimit/anaconda3/envs/il_mm/lib/python3.7/xml/etree/ElementTree.py", line 1197, in parse
    tree.parse(source, parser)
  File "/home/projectimit/anaconda3/envs/il_mm/lib/python3.7/xml/etree/ElementTree.py", line 587, in parse
    source = open(source, "rb")