Again the smallest value is .01 kg. This should be less than segment length and positive. The initial conditions are needed for the integration. The units are radians and you can put any joint at any ankle. Like the segment lengths, changes are immediately updated on the stick figure.
Positive value means gravity is normal, that is downward.
The simulation time is the total time over which the integration will be performed. The integration step is of variable time but its maximum limit is set as a percent of the total time. You must run the simulation again for to obtain results for the new time. Depending on your computer speed, you may adjust this to your pleasure. The view of the window in meters is stated in the box to the right of the COP window.