--- a
+++ b/RBDS015runT35forces.txt
@@ -0,0 +1,9001 @@
+Time	Fx	Fy	Fz	COPx	COPy	COPz	Ty
+1	87.97	125.73	0.76	1767.26	0	974.08	123.74
+2	62.1	99.33	-4.5	1510.3	0	971.12	1657.65
+3	78.74	91.4	9.16	2015.18	0	991.88	-1411.5
+4	-0	-0	-0	2149	0	976.7	-0
+5	43.26	48.07	5.72	1811.07	0	988.66	-10620.7
+6	-0	-0	-0	2149	0	976.7	-0
+7	-0	-0	-0	2149	0	976.7	-0
+8	-0	-0	-0	2149	0	976.7	-0
+9	-0	-0	-0	2149	0	976.7	-0
+10	-0	-0	-0	2149	0	976.7	-0
+11	-0	-0	-0	2149	0	976.7	-0
+12	-0	-0	-0	2149	0	976.7	-0
+13	-0	-0	-0	2149	0	976.7	-0
+14	-0	-0	-0	2149	0	976.7	-0
+15	-0	-0	-0	2149	0	976.7	-0
+16	-0	-0	-0	2149	0	976.7	-0
+17	-0	-0	-0	2149	0	976.7	-0
+18	-0	-0	-0	2149	0	976.7	-0
+19	-0	-0	-0	2149	0	976.7	-0
+20	-0	-0	-0	2149	0	976.7	-0
+21	-0	-0	-0	2149	0	976.7	-0
+22	-0	-0	-0	2149	0	976.7	-0
+23	-0	-0	-0	2149	0	976.7	-0
+24	-0	-0	-0	2149	0	976.7	-0
+25	-0	-0	-0	2149	0	976.7	-0
+26	-0	-0	-0	2149	0	976.7	-0
+27	-0	-0	-0	2149	0	976.7	-0
+28	-0	-0	-0	2149	0	976.7	-0
+29	-0	-0	-0	2149	0	976.7	-0
+30	-0	-0	-0	2149	0	976.7	-0
+31	-0	-0	-0	2149	0	976.7	-0
+32	-0	-0	-0	2149	0	976.7	-0
+33	-0	-0	-0	2149	0	976.7	-0
+34	-0	-0	-0	2149	0	976.7	-0
+35	-0	-0	-0	2149	0	976.7	-0
+36	-0	-0	-0	2149	0	976.7	-0
+37	-0	-0	-0	2149	0	976.7	-0
+38	-30.59	32.96	3.28	2301.74	0	1088.2	-7978.56
+39	-53.33	63.02	-2.06	2322.99	0	1110.93	5454.15
+40	-35.71	92.32	1.83	2445.18	0	1073.25	-8818.09
+41	-52.03	167.08	-5.95	2166.34	0	1081.11	-2946.32
+42	-121.84	280.61	-14.57	2294.36	0	1097.52	4986.45
+43	45.93	692.6	-2.21	2335.7	0	1092.27	8104.62
+44	-163.27	764.01	-101.17	2278.91	0	1091.41	19580.2
+45	-195.08	1107.48	-108.41	2326.1	0	1076.95	32893.2
+46	-124.59	1124.11	-99.49	2291.45	0	1089.88	-68734.6
+47	-81.33	1112.67	-80.34	2287.95	0	1072.41	20618.5
+48	-1.68	1128.85	48.98	2296.72	0	1077.45	26687.5
+49	-89.34	1094.51	78.96	2299.61	0	1076.9	5467.66
+50	-194.78	1105.65	130.77	2298.08	0	1081.7	27723
+51	-224.91	1156.01	60.2	2251.26	0	1067.54	11393.6
+52	-278.55	1107.64	79.27	2289.01	0	1085.99	10710.8
+53	-314.79	1191.41	26.09	2275.36	0	1067.24	40895.2
+54	-323.49	1219.18	24.11	2256.38	0	1077.74	263.82
+55	-301.06	1240.08	28.15	2260.84	0	1079.31	8021.75
+56	-292.51	1352.69	21.9	2264.78	0	1064.48	25616
+57	-311.74	1317.44	21.9	2233.08	0	1085.03	15897.7
+58	-277.56	1478.42	41.66	2236.09	0	1077.48	23987.4
+59	-301.74	1511.08	16.02	2254.18	0	1076.61	12763.4
+60	-318.3	1524.05	-40.89	2174.02	0	1082.44	16596.9
+61	-201.87	1646.88	-18.01	2226.98	0	1077.18	11387.4
+62	-292.59	1638.34	-57.14	2190.35	0	1078.15	26176.9
+63	-224.91	1680.15	-60.58	2150.82	0	1082.79	2400.71
+64	-195.54	1750.49	-46.69	2187	0	1078.92	23464.3
+65	-229.42	1737.37	-48.14	2142.29	0	1080.79	18130.8
+66	-100.4	1805.57	-40.21	2140.04	0	1079.26	4240.46
+67	-186.46	1790.62	-35.55	2125.9	0	1082.36	35483.1
+68	-70.11	1842.19	-40.28	2128.81	0	1079.47	4244.17
+69	-73.17	1835.02	-30.82	2107.67	0	1082.88	14157
+70	-94.22	1857.15	-39.67	2097.34	0	1082.76	20839.4
+71	6.33	1902.62	-40.44	2109.68	0	1077.57	922.99
+72	-100.25	1826.32	-50.96	2052.05	0	1084.88	36942.1
+73	22.58	1889.95	-41.5	2089.03	0	1080.9	-1933.89
+74	-25.79	1815.95	-54.63	2067.74	0	1082.65	19937.6
+75	-40.05	1757.35	-66.22	2032.13	0	1086.57	26420.8
+76	50.13	1771.09	-56.76	2060.31	0	1082.45	-7259.03
+77	-21.29	1659.7	-58.59	2022.99	0	1087.47	30355.6
+78	55.62	1659.55	-66.53	2032.07	0	1083.83	4541.16
+79	25.71	1588.59	-62.26	2014.36	0	1086.63	5472.62
+80	53.25	1551.06	-44.63	2006.07	0	1086.12	15008.8
+81	100.78	1548.92	-48.68	2005.76	0	1081.82	40.05
+82	75	1429.75	-35.63	1975.68	0	1086.77	13364.8
+83	151.37	1432.19	-10.76	1988.11	0	1081.93	496.42
+84	128.63	1356.2	-13.96	1959.69	0	1084.47	-3467.72
+85	160.6	1309.97	-21.97	1956.91	0	1081.93	8841.69
+86	182.88	1264.19	-11.37	1943.6	0	1082.24	-2360.52
+87	173.72	1175.23	-2.82	1913.8	0	1089.09	105.05
+88	218.05	1162.57	-3.89	1933.69	0	1081.53	-1786.62
+89	201.57	1052.86	-16.94	1890.13	0	1086.36	-217.58
+90	216.67	1029.36	5.72	1886.01	0	1085.1	-3769.49
+91	233.23	966.34	0.99	1889.16	0	1083.27	-6677.51
+92	217.13	874.79	-14.27	1843.97	0	1084.19	4398.53
+93	253.52	863.95	7.93	1887.38	0	1082.7	-9928.18
+94	228.73	734.41	-5.87	1833.27	0	1086.84	-5776.09
+95	228.81	702.51	-1.83	1837.55	0	1083.74	-2920.99
+96	225.52	627.59	0.23	1852.49	0	1085.09	-3608.87
+97	200.96	550.38	-3.43	1802.3	0	1080.78	-1518.52
+98	194.93	492.4	11.75	1816.2	0	1086.94	-5735.68
+99	161.9	421.3	5.95	1803.55	0	1089.31	-3001.88
+100	176.16	365.45	7.32	1806.04	0	1084.21	-8167.27
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+102	112.46	262.15	1.53	1762.07	0	1091.91	-1902.47
+103	125.12	218.05	1.6	1825.28	0	1082.31	-3388.33
+104	87.13	169.98	-0	1702.65	0	1103.99	391.54
+105	92.54	156.4	-3.13	1812.02	0	1081.2	-6760.2
+106	64.47	115.81	-0.92	1732.71	0	1087.67	3959.23
+107	65.77	91.4	4.96	1743.27	0	1111.39	-6091.56
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+171	-194.17	1760.71	32.88	2149.89	0	976.83	-3429.53
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+7228	-146.26	1063.08	56.76	2294.16	0	980.66	-19605.8
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+7237	-315.17	1164.55	14.72	2275.44	0	976.16	-3745.88
+7238	-310.21	1189.27	9.23	2236.41	0	983.11	11717.3
+7239	-335.16	1291.05	42.72	2248.11	0	986.21	-8426.08
+7240	-284.27	1329.35	23.73	2264.98	0	975.1	-9442.9
+7241	-318.76	1394.04	7.93	2203.45	0	981.65	4089.52
+7242	-275.65	1516.57	22.66	2236.23	0	976.58	-4552.39
+7243	-298.92	1592.41	44.63	2197.66	0	975.76	-659.42
+7244	-264.36	1599.12	50.43	2177.44	0	984.55	-754.71
+7245	-188.67	1739.2	59.51	2209.44	0	980.46	8620.01
+7246	-213.62	1707	45.24	2149.1	0	978.31	4475.79
+7247	-130.92	1824.8	43.11	2152.95	0	981.34	-8386.54
+7248	-134.43	1817.93	18.92	2146.73	0	978.8	11116.2
+7249	-87.36	1860.81	13.35	2119.14	0	977.02	5041.43
+7250	-59.89	1884	37.92	2121.67	0	981.39	-11584.8
+7251	-43.41	1868.59	19	2108.75	0	978.05	12292.2
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+7279	279.16	730.13	-4.73	1835.38	0	977.28	3080.85
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+7282	229.72	539.09	2.29	1814.01	0	980.08	-2694.11
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+7284	198.67	414.12	-8.47	1778.23	0	967.46	5840.4
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+7351	-212.55	1657.56	-53.41	2201.73	0	1106.5	466.6
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