GymCamera.get_transform may give incorrect orientation for attached cameras

[tabula-rosa]

The IsaacGym method get_camera_transform will provide the orientation relative to the attached rigid body for attached cameras (added via attach_camera), not the local environment frame. Therefore, GymCamera.get_transform will return the same, although the expectation I think is it returning relative to the local environment frame. The position from get_camera_transform appears to work as expected.

get_camera_transform (and therefore GymCamera.get_transform) appears to work as expected for cameras added via add_standalone_camera. This issue is just noting the problem for attached cameras.

Workaround for attached cameras:

• the camera view matrix appears to be correct, but that will be with respect to the global Isaac frame (not the local environment frame) <-- this I think would be fastest
• Update GymCamera to somehow know which rigid body the camera is attached do and apply the correct transform

This is tested on 1.0rc2.

[tabula-rosa]

Standby on this now. I may have found an unrelated issue. I may delete this issue.

[tabula-rosa]

@jacky-liang can you delete this issue? It isn't an issue, I misinterpreted some of my code.