hi everyone Is there any method to calculate mjDate.ctrl given mjData.qpos, mjData.qvel, mjData.cvel and mjData.cinert? thank you!
mjData.ctrl is a control input. The user is supposed to set it. Or are you talking about inverse dynamics? In that case, you can calculate mjData.qfrc_inverse, however mapping this force back to the actuators (and inferring the controls) is not automated, because the mapping is ill-posed in general. Note also that cvel and cinert are computed internally (from qpos, qvel). You should not attempt to set them directly.