Allow users to toggle between full and cropped gripper view

[hello-amal]

Description

This PR, in service of #7 , allows users to expand the Gripper camera view.

This PR also addresses the following (small) bugs in the web interface:

1. Rotating the wrist sometimes introduced black space in the default gripper view, even though theoretically rotating a rectangle around an inscribed circle should never result in black space. (This was because we rotated the image before cropping it.)
2. configure_video_streams that did not swap x and y when indexing into OpenCV images. The first index of matrices is the row, which is the vertical dimension of images, e.g.,img[row, col] = img[y, x]. This bug did not impact functionality (since x and y were also swapped in the parameters), but did impact readability.

Testing procedure

• [x] Toggle on/off the expanded gripper view, verify that everything renders as expected.
• [x] Rotate the wrist, verify that the expanded view rotates the background whereas the default view rotates the gripper.
• [x] Add a Dex Wrist button overlay on top of the gripper, verify that it renders correctly when the expanded gripper view is toggled on/off.
• [x] Add Realsense, overhead, and gripper camera views, verify the streams are correct.
• [x] Add the Realsense camera view with display buttons enabled, verify that "Depth sensing" works.
• [x] Test using the teleop interface to pick up an object, toggling the view as necessary/useful.
• [ ] Repeat the above tests on each of the following setups:
  • [ ] Stretch RE2 + no dex wrist w/ beta teleop kit (with this configuration, there should be no option for an expanded gripper view since it is fisheye and hence already circular)
  • [x] Stretch RE2 + dex wrist w/ beta teleop kit (with this configuration, there should be no option for an expanded gripper view since it is fisheye and hence already circular)
  • [x] Stretch RE2 + dex wrist w/ d405
  • [x] Stretch 3 + current teleop kit + dex wrist
• [x] Have a non-programmer use it, ensure it works for them.
  • (Their feedback was the rotating rectangle can make the user dizzy, but after seeing the version where the rectangle doesn't rotate but the background rotates, they preferred the rotating rectangle.)

Before opening a pull request

From the top-level of this repository, run:

• [ ] pre-commit run --all-files

To merge

• [ ] Squash & Merge

[hello-amal]

Merging without testing on the "Stretch RE2 + no dex wrist w/ beta teleop kit" configuration because:

1. I've double-checked the code, plus we've already tested with the beta teleop kit, so I'm fairly confident that it is unlikely to break that test case.
2. We haven't yet been able to procure that specific configuration.
3. Few users still use that configuration.