Bug in head-camera pose update in KinematicHumanoid, disrupts depth-based perception

[zephirefaith]

Habitat-Lab and Habitat-Sim versions

Habitat-Lab: main

Habitat-Sim: v0.3.1

Habitat is under active development, and we advise users to restrict themselves to stable releases of Habitat-Lab and Habitat-Sim. The bug you are about to report may already be fixed in the latest version.

Master branch contains 'bleeding edge' code, but we do appreciate bug reports for it!

🐛 Bug

KinematicHumanoid controller does not update head cameras to include base-rotation. Even though the depth and rgb images from sensors are aligned and make sense, the camera-pose associated with them (as read from sensor-mgr) do not.

Steps to Reproduce

Steps to reproduce the behavior:

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Expected behavior

Additional context