Add drawFrame(Data<std::vector<Rigid3Coord>>) #159

Job	Run time
Run on windows-2022 with SOFA master and python 3.10	6m 31s
Run on macos-14 with SOFA master and python 3.10	1m 57s
Run on ubuntu-22.04 with SOFA master and python 3.10	1m 8s
Deploy artifacts	0s
	9m 36s

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