I am using MuJoCo to obtain the inverse dynamics from mocap data. Firstly, I load in the mocap data into a mocap model (with mocap="true"), and constraint the joints into a physics model A with joints and motors. This step looks good. Next, I call the inverse dynamics, and from the document, I get qfrc_inverse. To test the value, I created another model B (the same as A), and set its qfrc_applied using the A.qfrc_inverse. And I keep the qfrc_constraint, efc_force the same as A. This step looks wrong. I used a walking motion. But for B, the legs are flying in the air. Some values are as large as thousand level. Is it the supposed pipeline? Do I need to set other values?