I want to rotate robot on the z-axis through the viewer and matrix

Hello, I’m a beginner using Isaac Gym. While simulating a robot with Isaac Gym, I had a thought that I wanted to observe the robot by multiplying a matrix rotated on the z-axis in the viewer and placing it in local coordinates. (I want to make the robot’s movements appear reversed.) However, I’m curious if there is a function or method to perform this process. If not through the viewer, can I achieve what I want through the camera?