Is this what you’re after?
import pymel.core as pm
mat_identity = pm.dt.Matrix()
transforms = set(pm.ls(type='transform'))
cameras = set([cam.getParent() for cam in pm.ls(type='camera')])
transforms = list(transforms - cameras)
frozen_nodes = list()
for trans in transforms:
mat = trans.getMatrix()
if mat == mat_identity:
frozen_nodes.append(trans)