[Proposal] Add camera local frame setter and both local and global frame getter

[lhy0807]

Proposal

The current implementation of the Camera sensor only exposes the global pose setter. However, pose getter and local pose setter is also needed for my project needs.

Motivation

I need to get the pose of the camera, however this getter function has not been implemented in the current Camera sensor interface. Setting the camera local pose is also needed.

Alternatives

I could get the pose using self._view. However, I think a more proper way is to expose this function in the Camera class.

Additional context

N/A

Checklist

• [x] I have checked that there is no similar issue in the repo (required)

Acceptance Criteria

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• [ ] Add get_world_poses function to Camera class
• [ ] Add set_local_poses function to Camera class
• [ ] Add set_local_poses_from_view function to Camera class

[mpgussert]

Hello @lhy0807 !

On a cursory examination of the code, I also wasn't able to find a way to get this information without directly accessing self._view. We already use this to set_world_pose of the camera, so we should probably have an equivalent get_world_pose in the same way. Local and other non global frame transformations would then be handled in the usual way. Good suggestion!