Add orthogonality check when inverting RigidTransform

[eigenvivek]

if RigidTransform is wrapping an affine matrix, use normal torch.inverse instead

[neel-dey]

(orthogonality and det = 1)

[eigenvivek]

actually just need orthogonality bc the closed form for drr.pose.RigidTransform is just implementing A^{-1} = A^T:

[eigenvivek]

https://naver.github.io/roma/#roma.utils.is_rotation_matrix