[data] update dataset_downloader.py with replica_cad rearrange dataset v2

[aclegg3]

Motivation and Context

Updates the replica_cad rearrange dataset links for v2.

V2 remaps all entries in RearrangeEpisode.name_to_receptacle dict to correctly reference the Receptacle.unique_name instead of Receptacle.name.

Also removes all v0 pickle files from the dataset.

How Has This Been Tested

CI?

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.

[0mdc]

Thank you!