--- a
+++ b/RBDS003runT45forces.txt
@@ -0,0 +1,9001 @@
+Time	Fx	Fy	Fz	COPx	COPy	COPz	Ty
+1	-36.32	276.95	-3.97	2446.37	0	1007.87	24737.5
+2	14.04	399.02	-2.14	2588.57	0	1026.26	-21983.2
+3	51.73	473.94	-7.48	2476.39	0	1028.05	-11280.6
+4	-22.66	663.15	37.38	2524.33	0	1035.57	37305.1
+5	-1.83	1025.24	-44.78	2497.61	0	1020.03	-12059.3
+6	-140.91	1156.77	-38.53	2508.85	0	1015.39	-26363.5
+7	-200.2	1339.72	112.3	2526.3	0	1031.03	10649
+8	-237.35	1341.71	8.77	2485.06	0	1021.04	14470.9
+9	-145.87	1166.08	-26.25	2508.47	0	1029.49	29136
+10	-78.58	1141.2	-54.63	2493.48	0	1022.09	17242
+11	-155.94	1081.39	3.81	2521.51	0	1035.4	-3639.71
+12	-279.39	1141.05	-79.8	2482.13	0	1028.39	-7287.26
+13	-311.97	1218.11	-60.04	2484.49	0	1023.36	-27093.3
+14	-343.32	1239.62	52.95	2489.16	0	1029.82	6074.88
+15	-344.77	1310.42	41.66	2445.61	0	1023.62	5211.28
+16	-263.44	1350.56	-30.36	2471.16	0	1021.58	-2713.98
+17	-359.95	1463.93	28.92	2417.13	0	1023.58	17148.3
+18	-265.2	1491.55	75.84	2451.04	0	1033.93	6165.36
+19	-258.18	1621.09	47.61	2441.34	0	1032.15	-5221.7
+20	-242	1648.56	32.58	2412.44	0	1034	22380.4
+21	-153.73	1792.45	45.17	2398.71	0	1023.28	-3835.05
+22	-234.99	1793.21	17.85	2354.11	0	1024.1	6913.91
+23	-82.24	1840.82	-17.24	2367.49	0	1023.64	-3984.62
+24	-146.94	1883.24	11.75	2347.17	0	1026.51	1363.86
+25	-139.85	1812.74	23.73	2337.94	0	1035.24	15029.2
+26	-58.29	1920.47	14.5	2326.76	0	1029.52	-5647.3
+27	-110.17	1838.68	5.57	2307.55	0	1032.44	15369.6
+28	-3.66	1841.43	22.89	2304.32	0	1029.65	-8453.18
+29	-20.45	1855.47	10.83	2283.11	0	1027.5	11351.1
+30	-12.51	1787.57	0.46	2275	0	1027.81	2806.91
+31	80.34	1850.43	-4.88	2255.34	0	1022.33	-6129.29
+32	1.22	1728.36	7.4	2235.82	0	1025.59	13111.2
+33	93.69	1755.68	1.37	2236.07	0	1024.95	1046.06
+34	119.86	1703.95	23.57	2218.77	0	1029.65	1856.1
+35	89.42	1651.92	16.71	2197.31	0	1029.62	13249.2
+36	203.78	1645.05	10.07	2197.19	0	1026.95	1182.54
+37	174.26	1549.07	-12.21	2172.67	0	1027.66	7751.74
+38	220.95	1535.64	-12.97	2163	0	1026.2	5122.24
+39	265.66	1431.43	-15.72	2151.99	0	1028.04	9360.69
+40	234.68	1364.29	-27.08	2122.62	0	1026.13	9457.31
+41	290.83	1305.69	-21.59	2123.86	0	1028.36	-2595.32
+42	272.98	1171.11	-37.16	2090.02	0	1031.07	16663.9
+43	295.26	1170.04	-17.01	2096.5	0	1031.93	2384.78
+44	296.48	1007.69	-30.98	2068.8	0	1034.95	6325.12
+45	303.19	948.18	-33.57	2055.73	0	1029.19	11256.9
+46	299.07	853.73	-37.23	2057.4	0	1028.94	3614.75
+47	280.91	725.1	-39.37	2015.59	0	1030.44	14757.4
+48	271.99	636.29	-34.56	2028.75	0	1028.15	3499.19
+49	236.97	536.65	-28.76	2011.5	0	1034.93	9.31
+50	219.04	431.98	-27.24	1983.13	0	1031.59	7284.26
+51	174.18	352.17	-28.46	2024.18	0	1029.28	6595.14
+52	136.95	273.28	-24.57	1919.83	0	1032.32	790.58
+53	156.17	200.81	-10.53	2029.66	0	1016.73	4402.92
+54	38.15	154.42	-10.91	1928.59	0	1026.61	4361.09
+55	84.53	102.39	-15.72	1894.47	0	981.02	1479.9
+56	20.68	96.44	-0.31	1818.04	0	991.56	8349.82
+57	20.83	47.15	4.2	2301.58	0	1071.6	-2560.12
+58	62.26	63.93	5.11	2073.15	0	998.03	1611.97
+59	-0	-0	-0	2149	0	976.7	-0
+60	-0	-0	-0	2149	0	976.7	-0
+61	-0	-0	-0	2149	0	976.7	-0
+62	-0	-0	-0	2149	0	976.7	-0
+63	20.75	23.5	-5.34	2477.83	0	939.71	3322.45
+64	-22.43	-19.07	5.04	2860.24	0	901.74	9135.86
+65	-0	-0	-0	2149	0	976.7	-0
+66	-0	-0	-0	2149	0	976.7	-0
+67	8.32	-22.28	5.11	1303.67	0	773.07	501.42
+68	-3.97	27.92	-3.59	2003.15	0	1037.78	-5221.01
+69	-0	-26.09	-17.7	2399.88	0	1028.96	1968.12
+70	14.27	28.99	-2.9	2687.96	0	1088.78	2786.24
+71	-0	-0	-0	2149	0	976.7	-0
+72	-0	-0	-0	2149	0	976.7	-0
+73	-0	-0	-0	2149	0	976.7	-0
+74	-0	-0	-0	2149	0	976.7	-0
+75	-0	-0	-0	2149	0	976.7	-0
+76	-0	-0	-0	2149	0	976.7	-0
+77	2.9	17.4	-4.73	2114.66	0	889.71	5218.57
+78	-0	-0	-0	2149	0	976.7	-0
+79	-0	-0	-0	2149	0	976.7	-0
+80	-0	-0	-0	2149	0	976.7	-0
+81	-0	-0	-0	2149	0	976.7	-0
+82	-0	-0	-0	2149	0	976.7	-0
+83	-0	-0	-0	2149	0	976.7	-0
+84	-0	-0	-0	2149	0	976.7	-0
+85	13.66	22.28	0.53	2841.76	0	1021.73	1311.63
+86	-11.22	-21.51	-2.52	2346.18	0	834.75	-1507.05
+87	14.8	26.4	-9.84	2251.63	0	947.76	-2416
+88	-0	-0	-0	2149	0	976.7	-0
+89	-0	-0	-0	2149	0	976.7	-0
+90	-0	-0	-0	2149	0	976.7	-0
+91	-0	-0	-0	2149	0	976.7	-0
+92	24.64	18.77	-3.66	2966.26	0	879.15	441.92
+93	-0	-0	-0	2149	0	976.7	-0
+94	-0	-0	-0	2149	0	976.7	-0
+95	-0	-0	-0	2149	0	976.7	-0
+96	-0	-0	-0	2149	0	976.7	-0
+97	27.39	16.33	0.38	2904.07	0	986.39	668.39
+98	-0	-0	-0	2149	0	976.7	-0
+99	-0	-0	-0	2149	0	976.7	-0
+100	-5.04	-15.56	-7.93	2947.97	0	1045.27	-3610.95
+101	-0	-0	-0	2149	0	976.7	-0
+102	-0	-0	-0	2149	0	976.7	-0
+103	-14.8	26.09	1.75	2283.77	0	1160.15	3488.95
+104	-67.9	81.33	-1.37	2548.3	0	1084.76	6733.41
+105	26.7	70.5	-14.42	2764.64	0	1058.01	-3537.38
+106	11.22	186.92	-3.66	2449.57	0	1069.32	2947.67
+107	-82.93	224.91	-9	2614.98	0	1093.68	1138.04
+108	48.22	363.62	-13.2	2510.24	0	1043.37	29090.2
+109	9.84	433.2	7.25	2529.51	0	1077.91	-17177.9
+110	-53.25	691.07	18.23	2547.91	0	1069.21	-8985.27
+111	-16.02	971.83	9.08	2515.01	0	1055.28	30806.5
+112	-160.06	1132.05	-31.89	2512.28	0	1063.61	14595.4
+113	-257.95	1272.74	-31.81	2514.01	0	1050.58	24221.3
+114	-109.56	1206.36	-27.54	2498.13	0	1059.31	-9777.58
+115	-61.57	1058.5	-51.27	2510.11	0	1055.7	-50080.5
+116	-88.42	1113.74	66.83	2499.49	0	1056.9	30671.8
+117	-167.54	1048.28	52.64	2518.8	0	1058.87	53698.6
+118	-284.81	1099.7	53.1	2476.58	0	1061.43	1359.96
+119	-300.52	1145.32	68.59	2493.13	0	1065.9	27024.1
+120	-346.53	1137.7	-4.04	2517.39	0	1063.62	39799
+121	-349.66	1257.02	-38.3	2472.12	0	1055.44	-22054.7
+122	-308.38	1279.45	5.65	2489.22	0	1060.75	4769
+123	-339.36	1361.08	15.34	2448.58	0	1058.87	21748.9
+124	-284.96	1503.14	-37.08	2463.74	0	1048.17	-1511.63
+125	-327.15	1482.54	-6.03	2423.79	0	1061.14	27958.3
+126	-255.58	1695.4	6.48	2408.9	0	1051.3	-2001.81
+127	-260.01	1651.61	0.46	2438.58	0	1069.42	22892.7
+128	-190.81	1714.02	-35.25	2388.33	0	1064.2	19975.2
+129	-165.41	1824.34	19.68	2402.47	0	1057.95	-3130.97
+130	-226.06	1759.34	-9.77	2337.65	0	1057.42	18298.9
+131	-63.93	1932.53	-13.28	2347.15	0	1047.43	17382.1
+132	-184.56	1806.95	-13.5	2319.11	0	1055.73	35276
+133	-27.39	1850.74	22.96	2310.96	0	1057.16	11030
+134	-10.3	1829.38	10.76	2311.22	0	1058.38	24841.7
+135	-30.52	1783.91	10.68	2293.1	0	1065.9	33558.3
+136	102.08	1831.05	26.17	2276.3	0	1056.04	8260.71
+137	-18.23	1743.62	24.11	2251.1	0	1060.94	27563
+138	106.35	1784.06	11.37	2251.26	0	1055.6	15549.7
+139	111.85	1749.73	12.36	2228.14	0	1052.66	22570.2
+140	76.83	1701.66	32.42	2210.65	0	1055.5	25684.5
+141	227.89	1696.17	30.9	2214.17	0	1052.05	16844.1
+142	157.39	1585.24	32.12	2175.47	0	1059.47	31706.5
+143	229.19	1588.75	43.18	2188.01	0	1055.11	10465.2
+144	261.99	1467.59	43.11	2149.58	0	1058.01	21540.6
+145	243.53	1435.85	46.16	2141.32	0	1056.61	20594.9
+146	300.22	1393.74	42.72	2149.19	0	1050.07	1769.96
+147	258.87	1249.69	46.01	2079.75	0	1051.1	21240
+148	327.53	1242.98	60.73	2123.17	0	1050.42	8375.37
+149	294.8	1097.87	37.08	2083.6	0	1047.38	15195.9
+150	317.15	1008.15	51.65	2064.37	0	1050.99	4290.66
+151	329.59	915.99	58.29	2083.05	0	1055.08	798.22
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+154	239.56	588.38	42.57	1997.85	0	1052.99	-2679.19
+155	247.88	502.62	37.23	1993.74	0	1049.85	10639.1
+156	196.91	390.32	28.23	1984.64	0	1054.08	3150.31
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+158	183.56	236.82	21.44	2017.33	0	1057.71	5519.21
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+160	72.78	111.24	2.52	1890.91	0	1076.29	6405.11
+161	89.49	103.45	12.82	2150.47	0	1082.53	-4710.09
+162	22.74	45.01	-11.67	1549.46	0	1104.39	12479
+163	61.8	62.56	1.14	2176.99	0	1044.95	-1204.89
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+236	-97.58	1928.56	58.59	2393.96	0	1007.32	-13573.4
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+240	-124.36	1857.6	4.73	2328.99	0	1005.38	7278.6
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