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

[AntoineRichard]

Hi @rwiltz — thanks for putting this one up! 🙏

We're doing a cleanup pass over the Isaac Lab PR backlog, which had grown past 400 open pull requests, and we're closing out the ones that have gone quiet so the queue is reviewable again.

Why this PR is being closed: Here is exactly what we found on this PR when we reviewed the backlog:

Opened	2026-03-16 (about 5 months ago)
Last commit on the branch	2026-03-16
Last activity from the author	about 5 months ago
Target branch	develop
Review status	Never reviewed by a maintainer — nobody on the team got to it. Sorry about that.
Merge status	Unknown
Size	2 commit(s), 11 file(s) changed, +525 / -11

It was picked up by the sweep because it is still marked as a draft, and it has been open for about 5 months. It was then put in the "close" bucket because the author has been silent for about 5 months — which is the signal we used to tell apart pull requests that are still being worked on from ones that have genuinely been set aside.

We deliberately did not close pull requests that were approved and ready to land, or that were small and clearly still fixing a live bug — there were 27 of those, and we are merging them rather than closing them.

No judgement on the change itself — this is purely backlog hygiene.

If this is still wanted, please reopen it or re-submit against develop. 💚

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🤖 This comment was drafted with AI assistance as part of a maintainer-led sweep of the Isaac Lab pull request backlog. A maintainer is behind this cleanup — but if this closure looks wrong, it may well be, so please push back and we'll take another look.