Controlling an additional camera(such as in VisionSwarm).

I've set up breve to simulate the e-puck robot. This is how it looks in its current state:
http://www.youtube.com/watch?v=oywYk7yWdmM

The robot is a MultiBody and two wheels with PolygonDisk shape and sensors as PolygonCode. These are linked together using joints to form the robot. The robot is modified version of the braitenberg robot.

The e-puck robots has a small camera attached to the front. As we are going to start working with primitive vision stuff, I would like to add a camera to the simulator.
I started out with the VisionSwarm.py code. However I have not been able to make the camera work as I want.
My current problem is that Im unable to control the camera in such a way that it keeps pointing in the same direction as the robot. Does anyone have some tips or some example code on how to do this ?