--- a
+++ b/RBDS025runT45forces.txt
@@ -0,0 +1,9001 @@
+Time	Fx	Fy	Fz	COPx	COPy	COPz	Ty
+1	126.57	347.75	-19.3	1739.94	0	950.07	6777.87
+2	100.1	222.78	-24.26	1635.47	0	948.85	18404.4
+3	125.43	243.53	-6.79	1867.75	0	946.78	-349.4
+4	87.97	131.38	-21.82	1615.84	0	910.07	14444.7
+5	92.77	132.45	-10.3	1788.54	0	953.73	946.33
+6	55.54	97.81	-12.82	1557.05	0	949.36	17825.7
+7	67.98	54.63	0.99	1958.17	0	930.9	-738.96
+8	26.25	62.1	-2.44	1349.69	0	965.91	983.99
+9	-0	-0	-0	2149	0	976.7	-0
+10	23.35	47	5.34	1898.01	0	948.07	4748.11
+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
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+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
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+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	-2.98	43.03	-6.03	2325.98	0	950.57	5323.54
+45	-118.87	39.67	1.98	2108.67	0	1125.8	14926
+46	0.92	104.68	7.32	2299.86	0	1031.76	14320.8
+47	-97.96	158.84	-25.79	2241.09	0	978.86	-1200.72
+48	-108.87	258.33	-32.73	2265.71	0	996.57	-6672.69
+49	-18.23	393.07	-66.6	2246.13	0	981.55	8967.63
+50	-36.39	586.55	-26.32	2246.61	0	990.38	-5687.09
+51	-25.48	798.34	13.66	2238.12	0	991.94	8369.76
+52	-85.6	1197.97	19.15	2229.61	0	989.86	15865.2
+53	-193.79	1294.1	45.85	2221.64	0	999.71	14054.4
+54	-90.48	1398.01	-39.06	2214.02	0	991.19	44196.9
+55	-88.42	1240.84	-73.24	2196.78	0	991.88	-36882.7
+56	-69.73	1133.27	55.92	2222.68	0	991.85	6473.91
+57	-73.09	1179.81	137.63	2200.68	0	993.44	27959
+58	-186.16	1040.5	-4.5	2198.36	0	984.15	4873.79
+59	-228.27	1184.54	91.78	2198.73	0	1003.77	25159
+60	-266.65	1076.81	23.73	2177.35	0	992.14	14829.7
+61	-236.43	1176.61	-60.5	2192.89	0	997.97	16118.8
+62	-251.77	1142.58	-52.34	2162.9	0	1001.71	24711.5
+63	-196.15	1226.04	3.2	2175.83	0	1000.11	-7274.28
+64	-254.52	1321.11	-4.65	2154.59	0	1006.14	10438.7
+65	-218.58	1352.84	-90.18	2139.88	0	993.84	36886.6
+66	-193.33	1468.05	-7.71	2152.63	0	1001.84	-15305.2
+67	-205.92	1405.64	-17.01	2099.52	0	1001.89	24580.6
+68	-102.31	1514.13	-45.93	2122.08	0	1001.21	26148.7
+69	-160.68	1512.76	-50.05	2119.63	0	1002.62	9766.78
+70	-126.72	1489.41	30.21	2071.33	0	1006.77	-3294.62
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+72	-157.47	1500.85	-59.59	2043.03	0	999.65	26304.8
+73	10.6	1600.04	-1.45	2055.13	0	998.18	-1104.69
+74	-75.68	1494.75	-4.96	2038.93	0	1000.01	8730.54
+75	-32.35	1503.6	-20.68	2018.88	0	1005.11	22525
+76	48.52	1528.32	7.63	2021.6	0	998.1	13450.7
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+80	99.49	1432.95	33.95	1952.59	0	998.06	7963.02
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+84	185.55	1213.99	59.59	1878.44	0	1001.69	6519.22
+85	204.93	1195.07	33.87	1889.77	0	997.76	16910.7
+86	242.23	1121.98	55.16	1881.53	0	1001.1	7410.78
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+88	249.4	1016.54	49.36	1864.03	0	997.3	1786.43
+89	229.19	903.17	29.37	1809.93	0	996.99	20160.5
+90	239.03	856.02	49.36	1806.77	0	998.91	-765.87
+91	234.3	762.33	44.25	1805.73	0	997.73	1469.77
+92	215.07	683.44	29.6	1765.62	0	999.42	16859.7
+93	215.61	618.9	44.48	1805.7	0	1006.29	-5018.52
+94	179.82	526.58	28	1740.71	0	996.74	4491.41
+95	173.42	472.41	32.96	1772.34	0	1008.89	3522.71
+96	142.52	383.91	13.66	1740.42	0	999.54	13563.8
+97	145.34	337.22	27.31	1737.64	0	996.34	-411.82
+98	112.3	260.47	14.95	1729.28	0	1011.8	913.17
+99	88.5	212.55	-2.59	1638.88	0	993.03	17663.8
+100	101.7	179.9	24.11	1735.85	0	1016.03	-191.06
+101	72.17	119.32	3.51	1620.22	0	1023.14	-239.38
+102	52.87	125.89	1.37	1742.09	0	1011.74	258.8
+103	58.52	72.17	-2.98	1744.88	0	1031.71	10443.8
+104	27.08	70.5	-8.47	1569.91	0	1001.92	1492.35
+105	28.76	54.17	0.23	1840.63	0	1055.59	1985.22
+106	27.08	30.98	-13.58	1723.2	0	1001.75	12484.2
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