I have set up SP in wso2 Identity server and was able to get access_token in auth2 using playground. Ref : https://docs.wso2.com/display/IS510/OAuth+2.0+with+WSO2+Playgroun
It seems the logic to return claims by UserInfo Endpoint for scope openid is only the intersection of claims configure at OIDC file and claims configured in SP level are returned. Based on this logic I was able to solve this problem by following steps.
Look at values of Claim Uri and Mapped Attribute of the email claim at http://wso2.org/oidc/claim dialect
Now for the request
curl -k -H "Authorization: Bearer 8b2805a7-5b74-33ee-84df-2a8c53a16f6c" https://localhost:9443/oauth2/userinfo?schema=openid
you would get response
{"sub":"admin@carbon.super","email":"admin@wso2.com"}