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After further testing, I've discovered that this is mainly due to motor configuration. Motors B and C have to be configured on the right and left side respectively. In the provided program, motors B and C are configured on the opposite sides.
As NXT simulation depends on the standard configuration, changing it will result in different behaviors in the simulation. Ultimately, this all depends on the old configuration that also concerns other robots as EV3, mbot and others, which can adapt to only a few changes to the configuration.
I assume this should be more of a generic issue of the old configuration, non specific to the NXT. It can be considered as an extra feature.
Describe the bug
To Reproduce
Steps to reproduce the behavior:
Expected behavior
Device information
Additional context
issue_motor-sim.txt
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