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I don't understand why I set a simulation time of 6 seconds in setting window and in leg39_setup_forwarddynamics.xml and the simulation stops only after 0,4s.
I have this message from console:
Integrating from 0 to 0.4
RKF.step: NAN in state 25 at time 0.0140902 (dt = 0.00524288)

Francesco,

If you don't have excitations or ground reaction forces (or data in general) that goes all along, the simulation time would be trimmed to the bounds of your data files.

-Ayman