Question regarding coordinates used to calculate walking ID torques

[Shivangi Giri]

Hi,
I am simulating walking on a gait model using opensim-python api. Now I calculate instantaneous torques depending on pose at that time and then using those torques to get muscle activations to drive the model to next pose after integration.
My question is whether instantaneous torque be calculated using the desired angles and speeds or should it be using the current pose of the model (the pipeline I am currently employing)?
Because if the pose of the model (driven by previous muscle activations) does not give the desired torques, then that would cause incorrect current muscle activation an in time the subsequent poses of the model will be far from the desired ones.

Please help.

Regards,
Shivangi