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  1. Forward dynamics simulations are sensitive to initial conditions, and it is good practice to double-check that the initial conditions are appropriate for the desired simulation.
  2. If the Forward Dynamics Tool fails gracefully (i.e., without crashing OpenSim) or the output of the Tool drifts too much (i.e., the model "goes crazy"), shorten the interval over which the Forward Dynamics Tool runs (i.e., make initial_time and final_time closer to each other in the Forward Dynamics Tool setup dialog box or setup file). Open-loop forward dynamics tends to drift over time due to the accumulation of numerical errors during integration.
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