--- a
+++ b/RBDS023runT25forces.txt
@@ -0,0 +1,9001 @@
+Time	Fx	Fy	Fz	COPx	COPy	COPz	Ty
+1	184.86	890.5	-15.41	2069.66	0	987.17	6292.38
+2	165.79	800.48	-19.76	2045.4	0	988.24	8348.21
+3	181.35	755.31	-26.02	2034.18	0	991.62	4576.44
+4	172.96	695.04	-26.32	2041.67	0	987.58	3584.98
+5	171.13	615.39	-28.23	2028.77	0	988.84	8057.23
+6	164.11	578	-21.13	2011.02	0	995.23	-124.27
+7	151.67	505.22	-35.4	2024.75	0	986.05	8299.75
+8	149.15	463.26	-24.19	2008.24	0	991.56	1647.76
+9	130.31	395.51	-25.18	1969.37	0	995.19	2842.43
+10	136.49	353.85	-24.8	2033.4	0	991.27	1851.82
+11	108.87	308.53	-25.94	1977.54	0	992.33	2443.86
+12	108.64	257.57	-20.68	1979.5	0	995.68	135.77
+13	101.78	239.56	-18.23	2015.12	0	990.52	-251.78
+14	85.22	188.9	-25.25	1993.09	0	977.25	3666.69
+15	68.66	169.22	-14.88	1910.09	0	1002.22	169.39
+16	75.38	141.14	-16.48	2062.2	0	992.76	-2533.11
+17	46.92	106.51	-20.45	1891.71	0	975.81	3513.96
+18	45.62	94.91	-7.48	1937.88	0	1023.92	-3132.65
+19	45.17	77.06	-12.28	2046.7	0	955.57	4289.62
+20	25.48	68.97	-2.14	1817.37	0	1023.06	-2117.93
+21	37.54	38.76	-6.56	2161.17	0	964.43	-5490.46
+22	16.71	53.56	-1.91	1923.76	0	939.72	7111.57
+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	-0	-0	-0	2149	0	976.7	-0
+39	-0	-0	-0	2149	0	976.7	-0
+40	-0	-0	-0	2149	0	976.7	-0
+41	-0	-0	-0	2149	0	976.7	-0
+42	-0	-0	-0	2149	0	976.7	-0
+43	-0	-0	-0	2149	0	976.7	-0
+44	-0	-0	-0	2149	0	976.7	-0
+45	-0	-0	-0	2149	0	976.7	-0
+46	-0	-0	-0	2149	0	976.7	-0
+47	-0	-0	-0	2149	0	976.7	-0
+48	-0	-0	-0	2149	0	976.7	-0
+49	-0	-0	-0	2149	0	976.7	-0
+50	-0	-0	-0	2149	0	976.7	-0
+51	-0	-0	-0	2149	0	976.7	-0
+52	-0	-0	-0	2149	0	976.7	-0
+53	-0	-0	-0	2149	0	976.7	-0
+54	-63.25	55.39	-6.03	2183.94	0	1001.35	3602.83
+55	2.37	42.72	-0.31	2649.83	0	1118.41	-1398.43
+56	-17.62	98.88	-27.01	2352.5	0	987.32	-4520.63
+57	-30.06	190.43	-0.38	2395.99	0	1035.95	-7037.89
+58	32.58	217.29	-11.98	2449	0	1015.35	18687
+59	14.95	311.43	-15.26	2348.79	0	1013.22	-21815.8
+60	45.01	411.38	13.58	2422.45	0	1013.78	3084.53
+61	32.2	475.31	13.28	2351.27	0	1010.44	24460.5
+62	39.75	649.41	21.82	2363.83	0	1016.1	-10703.3
+63	2.14	725.4	32.58	2369.11	0	1012.35	14532.9
+64	17.24	911.41	37.08	2372.61	0	1016.96	14011.9
+65	-55.47	1016.69	-9.46	2370.8	0	1016.05	-567.03
+66	-76.9	1078.34	-15.41	2356.07	0	1016.67	44861.2
+67	-30.98	1062.62	-38.22	2393.54	0	1012.24	4735.84
+68	-115.81	1006.93	-41.73	2356.9	0	1012.55	-28589
+69	-47.07	974.73	26.09	2379.4	0	1015.45	29085.9
+70	-102.31	994.42	33.72	2368.1	0	1015.74	26066.4
+71	-170.97	984.5	41.73	2374.23	0	1020.49	7125.26
+72	-168.76	1030.58	22.51	2377.25	0	1013.12	22378.1
+73	-259.86	1022.95	-3.28	2370.61	0	1021.73	4271.55
+74	-201.26	1076.05	-22.58	2386.07	0	1015.04	14160.9
+75	-246.43	1111.15	-8.47	2360.86	0	1019.29	17504.8
+76	-268.78	1122.13	-23.12	2382.09	0	1021.4	-2637.43
+77	-240.71	1221.31	-29.83	2375.98	0	1016.38	16357.8
+78	-273.44	1228.18	-39.75	2352.08	0	1022.07	17670.6
+79	-233.99	1335.45	-30.14	2368.58	0	1021.44	324.89
+80	-251.16	1370.09	-34.64	2346.77	0	1020.88	17197.4
+81	-234.45	1452.33	-40.21	2338.57	0	1019.98	4022.87
+82	-204.24	1509.7	-26.4	2337.89	0	1021.39	9505.36
+83	-186.61	1557.31	-25.56	2328.06	0	1019.34	19194.8
+84	-176.09	1608.28	-27.31	2307.93	0	1019.14	1686.53
+85	-144.04	1639.1	-16.02	2315.64	0	1020.09	17083.3
+86	-124.66	1654.51	-9	2299.98	0	1018.87	16384.5
+87	-122.45	1716.46	3.81	2293.64	0	1020.31	8441.78
+88	-108.64	1674.19	-1.68	2279.6	0	1019.55	20109.2
+89	-67.9	1762.08	7.63	2279.6	0	1018.62	12988.1
+90	-99.33	1703.8	1.83	2264.21	0	1020.12	13525.8
+91	-61.34	1736.45	5.26	2254.59	0	1019.33	19030.4
+92	-51.8	1728.67	-2.67	2256.16	0	1018.96	9829.91
+93	-69.96	1717.07	-4.04	2241.26	0	1020.77	17963.4
+94	-23.73	1705.47	-5.26	2242.62	0	1020.16	16031.5
+95	-44.1	1681.37	-7.78	2234.76	0	1021.22	11599.9
+96	-20.14	1665.65	-9.23	2221.63	0	1020.37	16204.4
+97	-0.61	1653.29	-4.73	2229.37	0	1021.13	12566.9
+98	-26.09	1610.41	-7.32	2216.2	0	1020.85	11883
+99	13.05	1602.48	-9.16	2209.32	0	1020.37	13713.2
+100	-8.32	1542.21	-9.69	2201.92	0	1023.01	11300.2
+101	12.21	1536.25	-11.14	2205.34	0	1020.76	10928.7
+102	15.11	1473.39	-16.4	2183.95	0	1022.45	11124.7
+103	29.14	1458.89	-16.02	2188.36	0	1022.68	6923.19
+104	43.18	1411.13	-18.01	2179.3	0	1021.06	13687.5
+105	48.68	1372.38	-11.9	2164.45	0	1023.65	8987.42
+106	76.52	1356.51	-13.43	2171.69	0	1020.48	3690.42
+107	78.96	1303.56	-8.24	2150.67	0	1020.54	10142.9
+108	100.63	1263.73	4.88	2143.51	0	1022.52	8201.53
+109	110.17	1235.66	8.54	2146.56	0	1021.04	3968.4
+110	120.62	1178.28	0.53	2132.07	0	1018.96	6895.47
+111	136.64	1134.8	8.01	2124.06	0	1020.55	5900.34
+112	130.62	1088.56	13.89	2115.06	0	1019.36	4743.97
+113	150.45	1030.88	12.13	2109.21	0	1017.44	8639.51
+114	146.48	986.33	19.07	2105.44	0	1019.53	3029.59
+115	149.15	931.7	21.44	2093.07	0	1017.58	7919.41
+116	155.94	874.33	28.23	2086.58	0	1019.57	1647.16
+117	148.47	818.63	21.06	2084.23	0	1014.24	3341.81
+118	144.27	768.43	28.92	2068.34	0	1017.67	7258.16
+119	155.03	706.94	31.05	2072.32	0	1015.39	1976.36
+120	137.33	644.99	25.48	2044.81	0	1013.27	4407.5
+121	151.29	595.4	34.79	2063.68	0	1016.42	950.7
+122	129.09	523.83	25.25	2020.07	0	1011.08	8751.24
+123	134.43	482.48	36.16	2046.1	0	1019.38	-1215.87
+124	127.56	438.54	21.44	2037.78	0	1007.75	4290.87
+125	101.32	376.13	24.49	1989.11	0	1013.07	2392.95
+126	121.15	328.67	23.42	2043.39	0	1017.85	1880.76
+127	90.56	302.43	20.6	2011.51	0	1010.96	2134.23
+128	93.46	247.34	20.22	2018.15	0	1013.46	-1135.21
+129	84.99	214.08	16.25	1980.26	0	1021.37	3791.53
+130	71.49	178.68	14.72	2018.11	0	1007.35	2138.17
+131	69.35	152.74	12.82	2002.26	0	1005.94	2493.61
+132	53.18	124.21	17.24	1942.4	0	1034.92	-1986.97
+133	51.96	112.92	4.65	2065.63	0	995.13	5537.52
+134	46.01	88.81	9.77	1964.67	0	1030.45	1881.75
+135	37.77	65.46	7.86	2014.76	0	1023.38	-893.99
+136	29.3	67.9	8.01	2091.43	0	1005.69	916.21
+137	26.17	42.57	2.9	1739.94	0	1047.45	2795.49
+138	27.69	45.01	4.5	2234.5	0	1034.35	626.19
+139	16.94	35.55	3.89	1915.37	0	1017.53	-2641.7
+140	-0	-0	-0	2149	0	976.7	-0
+141	-0	-0	-0	2149	0	976.7	-0
+142	-0	-0	-0	2149	0	976.7	-0
+143	-0	-0	-0	2149	0	976.7	-0
+144	-0	-0	-0	2149	0	976.7	-0
+145	-0	-0	-0	2149	0	976.7	-0
+146	-0	-0	-0	2149	0	976.7	-0
+147	-0	-0	-0	2149	0	976.7	-0
+148	-0	-0	-0	2149	0	976.7	-0
+149	-0	-0	-0	2149	0	976.7	-0
+150	-0	-0	-0	2149	0	976.7	-0
+151	-0	-0	-0	2149	0	976.7	-0
+152	-0	-0	-0	2149	0	976.7	-0
+153	-0	-0	-0	2149	0	976.7	-0
+154	-0	-0	-0	2149	0	976.7	-0
+155	-0	-0	-0	2149	0	976.7	-0
+156	-0	-0	-0	2149	0	976.7	-0
+157	-0	-0	-0	2149	0	976.7	-0
+158	-0	-0	-0	2149	0	976.7	-0
+159	-0	-0	-0	2149	0	976.7	-0
+160	-0	-0	-0	2149	0	976.7	-0
+161	-0	-0	-0	2149	0	976.7	-0
+162	-0	-0	-0	2149	0	976.7	-0
+163	-0	-0	-0	2149	0	976.7	-0
+164	-0	-0	-0	2149	0	976.7	-0
+165	-0	-0	-0	2149	0	976.7	-0
+166	-0	-0	-0	2149	0	976.7	-0
+167	-0	-0	-0	2149	0	976.7	-0
+168	-0	-0	-0	2149	0	976.7	-0
+169	-0	-0	-0	2149	0	976.7	-0
+170	-0	-0	-0	2149	0	976.7	-0
+171	-29.07	43.49	-6.26	2291.61	0	953.47	476.03
+172	-44.33	43.49	-3.81	2471.61	0	966.59	-8927.8
+173	5.65	99.03	11.52	2354.32	0	1000.85	-2202.26
+174	-13.66	164.03	7.93	2423.57	0	952.8	13959.8
+175	9.31	213.01	9.84	2395.21	0	971.32	-6250.61
+176	36.85	270.08	6.48	2333.53	0	960.9	6656.6
+177	43.79	366.21	9.77	2425.79	0	974.62	6190.57
+178	56.53	429.08	-13.66	2339.17	0	960.2	-2973.49
+179	50.89	551.45	16.17	2345.02	0	971.2	8204.66
+180	32.5	667.88	-7.4	2384.02	0	966.46	3932.86
+181	39.37	850.68	-12.36	2342.29	0	963.62	-2849.53
+182	-26.02	879.21	16.63	2356.5	0	965.8	-3495.51
+183	-33.57	991.97	67.6	2350.11	0	972.76	-11660.1
+184	-49.59	990.14	46.01	2355.97	0	966.25	20039.4
+185	-96.36	1004.49	37.99	2353.44	0	970.33	19598
+186	-75.3	1031.04	11.6	2351.71	0	972.44	-20504.4
+187	-114.9	1031.65	-16.48	2357.11	0	967.97	4322.46
+188	-145.65	1080.02	-36.09	2355.09	0	969.64	306.86
+189	-156.4	1086.58	-5.87	2353.31	0	968.98	-8263.4
+190	-162.2	1138.31	21.74	2360.86	0	973.56	14925.4
+191	-178.22	1164.86	-4.88	2356.06	0	968.9	-9202.85
+192	-172.5	1228.03	23.73	2347.59	0	969.3	4573.46
+193	-180.13	1262.82	51.12	2351.84	0	969.26	16164.2
+194	-195.92	1346.74	29.37	2335.78	0	964.88	-8538.87
+195	-183.94	1375.43	46.31	2333.84	0	965.76	9612.75
+196	-185.17	1441.19	67.67	2323.11	0	968.23	12111.4
+197	-178.53	1481.93	53.02	2325.45	0	966.99	154.8
+198	-166.09	1531.52	42.65	2314.94	0	966.36	13790.9
+199	-144.65	1565.25	47.68	2296.47	0	967.02	6428
+200	-126.04	1608.12	60.81	2311.91	0	968.4	4795.82
+201	-124.97	1620.33	31.89	2287.04	0	966.1	12281.4
+202	-83.62	1683.81	39.52	2290.32	0	967.11	4701.03
+203	-106.12	1667.33	40.89	2275.23	0	966.63	8153.39
+204	-77.97	1733.86	43.18	2269.18	0	966.49	9471.09
+205	-84.15	1694.03	35.1	2266.59	0	965.25	5393.68
+206	-69.5	1738.74	55.69	2250.95	0	966.26	13067.5
+207	-51.88	1710.66	61.95	2252.63	0	968.19	7446.25
+208	-48.9	1710.21	43.11	2246.07	0	965.61	8544.92
+209	-21.51	1723.02	55.01	2238.11	0	966.16	8324.03
+210	-35.4	1687.77	47.38	2228.92	0	967.53	5998.95
+211	-17.32	1714.63	36.01	2228.61	0	965.55	8347.05
+212	-11.98	1676.79	31.28	2220.19	0	964.92	5316.87
+213	-7.48	1662.6	39.37	2206.72	0	965.88	4404.83
+214	21.36	1640.93	43.11	2217.02	0	965.01	8954.3
+215	-0	1618.19	41.2	2199.42	0	965.22	12972
+216	28.61	1584.78	49.29	2194.24	0	966.31	3432.83
+217	38.38	1557.62	48.37	2193.26	0	964.43	10513.6
+218	21.59	1531.07	44.56	2184.11	0	965.23	11763.3
+219	51.12	1476.29	42.88	2179.59	0	963.88	7199.93
+220	47.99	1457.82	48.9	2169.82	0	965.23	9934.4
+221	55.62	1405.49	42.34	2166.32	0	965.56	10810
+222	72.71	1385.5	39.52	2160.98	0	964.22	10919
+223	81.18	1340.79	42.5	2149.42	0	966.93	11335.2
+224	116.81	1309.2	31.36	2149.64	0	965.56	7628.6
+225	107.65	1255.34	20.9	2129.44	0	965.47	11032.7
+226	136.03	1226.5	30.21	2138.35	0	968.33	10210.7
+227	151.21	1189.42	13.43	2120.9	0	964.82	7581.88
+228	149.69	1144.87	9.54	2118.67	0	967.56	10152.1
+229	162.35	1095.73	1.53	2109.71	0	966.45	8202.79
+230	162.43	1045.38	11.44	2094.54	0	970.18	10937.8
+231	179.37	995.33	3.2	2113.39	0	970.37	6278.03
+232	162.81	934.14	-10.99	2068.99	0	970.09	8412.78
+233	179.75	886.38	-2.37	2088.67	0	973.46	3806.67
+234	180.28	825.04	-15.64	2086.16	0	969.17	11349.1
+235	164.72	776.52	-15.18	2046.99	0	974.52	4186.98
+236	186.46	724.33	-19.91	2071.4	0	969.91	6962.18
+237	167.01	658.26	-17.85	2045.02	0	974.02	5101.72
+238	171.36	604.71	-23.96	2047.6	0	972.44	4167.15
+239	162.43	557.25	-23.35	2033	0	972.6	8444.4
+240	157.39	493.01	-15.79	2033.49	0	981.29	-2407.57
+241	153.12	441.44	-33.65	2028.49	0	969.08	5481.52
+242	127.18	404.97	-21.36	2007.29	0	982.16	1274.41
+243	138.09	337.22	-23.73	2013.51	0	979.82	2499.8
+244	115.66	315.86	-22.51	2014.3	0	978.89	-1027.46
+245	107.65	258.94	-34.94	1997.25	0	977.11	1056.74
+246	103.99	226.29	-27.92	1989	0	969.37	910.59
+247	82.4	205.08	-21.29	2012.76	0	983.63	-840.46
+248	79.27	162.66	-34.18	1975.26	0	963.19	2211.92
+249	61.95	151.67	-25.63	1976.25	0	960.79	3.33
+250	53.71	112.61	-14.8	1987.86	0	993.58	-175.33
+251	56.23	107.12	-19.38	1986.22	0	966.03	482.17
+252	31.36	82.55	-12.44	1973.37	0	980.98	-3517.39
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