Add app for setting up Dex Teleop urdfs

[hello-cpaxton]

          @hello-cpaxton  On the [Data Collection doc ](https://github.com/hello-robot/stretch_ai/blob/feature/record-waypoints/docs/data_collection.md#on-robot)

• This part about moving URDF files feels tricky and needs more clarity, such as which path they will find these files and move them to.
• And another thing is manually copying files feels like more work and has a lot of room for errors. Given the fact that we have comms running between the robot and PC IP addresses, couldn't we just automate this URDF generation and copying files step with a client app ? E.g. python -m stretch.app.setup_robot_urdf

Move URDFs from robot to PC

URDFs should now have been generated into stretch_ai folder on the robot. Using your preferred method, move the following URDF files into the stretch_ai folder on your PC

    stretch_base_rotation_ik_with_fixed_wrist.urdf
    stretch_base_rotation_ik.urdf
    stretch_base_translation_ik_with_fixed_wrist.urdf
    stretch_base_translation_ik.urdf

Originally posted by @hello-fazil in #111 (comment)