Add math tests for transforms, rotations, and conversions (#103)

[jtigue-bdai]

Description

this PR adds tests for:
scale_transform
unscale_transform
saturate
normalize
copysign
convert_quat
quat_conjugate
quat_from_euler_xyz
quat_from_matrix
euler_xyz_from_quat
matrix_from_euler
quat_from_angle_axis
axis_angle_from_quat
skew_symmetric_matrix
combine_transform
subtract_transform
compute_pose_error
Fixes # (issue)

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

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