Problem with rendering using a fixed camera

[ErinZhang1998]

Hi,

I am wondering how I can render using a camera with property cam_rs.type = mujoco.mjtCamera.mjCAMERA_FIXED where cam_rs is a mujoco.MjvCamera() object.
The camera doesn't seem to update unless I run mujoco.mj_step(self.model, self.data), where the model and data are from the mink configuration. However, mujoco.mj_step seem to mess with something that hurts the IK accuracy. The absolute error between the desired EE position and actual EE position accumulates as the trajectory gets longer.

Thank you so much!