Hi all, I have a question on qfrc_inverse term! I read the documentation about it saying, qfrc_inverse = qfrc_applied + J'*xfrc_applied + qfrc_actuator. According to Multi body dynamics, which is M*qddot + b + g + J'*Fr = B*u ( M : inertia matrix, b, g : coriolis and gravity, J' : jacobian at contact, Fr : reaction force, B : selection matrix ), I assume qfrc_applied + qfrc_actuator corresponds to B*u, and J'*xfrc_applied corrensponds to J'*Fr. Is that correct? If so, qfrc_inverse is equivalent to M*qddot + b + g ? I am not so sure about qfrc_actuator term. I would appreciate if anyone give me some help!