Add target_T_world parameter to IsaacTeleopDevice.advance() for frame

[rwiltz]

Description

Add an optional target_T_world parameter to IsaacTeleopDevice.advance() that left-multiplies the world-to-anchor matrix before it enters the retargeting pipeline, allowing applications to receive all teleop poses in an arbitrary target frame (e.g. robot base link for IK controllers).
Support np.ndarray, torch.Tensor, and wp.array (via duck-typed .numpy()) as input types for the transform matrix.
Add unit tests for the _to_numpy_4x4 conversion helper and the rebase matrix multiplication logic.

Fixes # (issue)

Type of change

• New feature (non-breaking change which adds functionality)

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there