Add depth support

[stojicnnnn]

• Added cameras/realsense.py because of changes made to async_read from lerobot
• Changed infere and alignnet to accept both rgb and depth
• Multiplied rotation part of relative_action matrix to speed up RPY alignment
• Added new trajectory generation functions for data collection
• Visualisation now shows both rgb and depth images
• Added depth testing to tests
• Fixed formatting issues
• Depth clipping done before train and infere, makes sure that the input to network is always the same
• Fixed Z offset after infere

[lukicdarkoo]

Looks good overall, but please carefully check the diff