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The only "modifier" that the on-screen keyboard has by default is "shift". It might be possible to map one of the existing keys (perhaps "select") to the "control" modifier using xmodmap, but that would apply to all applications.
An alternative for mrxvt only might be to use its "macro" capability to remap the hardware keys. With this scheme, F1-F6 would potentially be available for particular control sequences (although F5, short stairstep, would typically be mapped to close all). However, currently the hardware keys don't work at all with mrxvt.
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