Draws connection lines for FrameTransformer visualization

[Mayankm96]

Description

Earlier, when visualizing using the frame transformer, it was unclear which frame corresponds to the source frame and so on. This MR uses the debug draw tool to connect the source and target frames making the transformations clearer.

Type of change

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

Screenshots

Please attach before and after screenshots of the change if applicable.

Checklist

• 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