A better way of thinking about it is that those people have a level of selfishness that is beyond all normal comprehension... All the discussion of urges ignored the fact that a conscious decision is being made
Eg, someone wants a car. They decide to steal it. Obviously that is a fairly selfish/anti social line of reasoning
A kid is scared walking to school. He decided to deal with that feeling by carrying a knife. Someone makes him angrym in the heat of the moment he decides to use the knife. That's a very messed up chain of decisions and clearly the teenager belongs in prison. By if they are capable of being honest with themselves and others about their thought patterns they can be rehabilitated.
A grown man feels a bit horny. He decided to deal with that by utterly devastating the life of another person. Drastically altering a child's whole future for very brief gratificatipn. Sex offenders especially paedophiles can't ever be honest about their thought processes. They might say things like "I was under a lot of pressure at the time" to get sympathy. But they don't finish by saying "so I decided to deal with that pressure by raping a child". Because of they talked about the thought processes people would see how selfish they are and they would have to face it to. It's why I don't think they can be rehabilitated, even when people who commit really awful crimes like murder sometimes can.
And almost all the time (except in the case of severe mental deficiency) men can control their "urges" and have a choice of whether to act or not. It's why Eugenie and Beatrice were perfectly safe visiting Epstein with their mother. Someone with a severe brain injury might not be, but they should be receiving care anyway.
Also, a lot of the men involved weren't actually paedophiles themselves. They were however perfectly happy to condone and facilitate (and joke about) he rape of children so long as they were given access to young women to have sex with. Which is also despicable.