--- a
+++ b/RBDS027runT35forces.txt
@@ -0,0 +1,9001 @@
+Time	Fx	Fy	Fz	COPx	COPy	COPz	Ty
+1	-28.38	36.77	-7.25	2293.02	0	939.25	-1916.34
+2	-40.36	98.11	-5.34	2142.36	0	946.34	-2170.63
+3	-88.2	165.86	7.86	2113.15	0	942.55	-9945.63
+4	-42.95	198.97	22.35	2206.5	0	952.6	9505.34
+5	-33.49	369.87	18.16	2115.96	0	948.03	276.7
+6	-28.99	523.68	13.81	2149.57	0	934.2	-6592.42
+7	6.94	813.45	32.04	2159.88	0	949.31	10784
+8	-165.48	924.07	20.98	2123.59	0	940.65	-16434
+9	-192.34	1154.02	105.97	2134.4	0	952.12	-4176.18
+10	-222.78	1206.67	145.34	2110.77	0	946.53	28925.5
+11	-57.75	1144.56	41.5	2120.02	0	949.32	-2543.97
+12	-79.8	1225.13	6.71	2125.04	0	958.13	-8373.98
+13	-151.9	1155.09	-65	2134.95	0	948.81	31665.5
+14	-183.33	1170.5	-93.84	2103.49	0	959.62	-6052.92
+15	-209.2	1202.85	-97.89	2125.35	0	946.17	-4285.22
+16	-249.48	1253.97	-34.03	2109.88	0	962.58	12060.2
+17	-208.89	1261.14	-14.95	2114.95	0	962.11	-14797.1
+18	-214	1338.96	-42.95	2114.43	0	945.75	21268.8
+19	-236.21	1327.21	-14.72	2071.81	0	955.22	-3186.67
+20	-167.39	1414.79	8.39	2108.4	0	949.17	3240.36
+21	-281.52	1457.52	31.81	2069.22	0	948.72	20283.3
+22	-209.27	1447.14	14.27	2061.59	0	954.3	10639.6
+23	-178.83	1541.14	64.93	2092.72	0	951.14	708.5
+24	-236.59	1528.02	49.44	2035.65	0	943.09	16958.5
+25	-140.76	1586	72.02	2043.13	0	955.33	2087.12
+26	-195.39	1623.84	44.63	2048.17	0	947.63	23390.9
+27	-156.94	1621.86	56.84	2024.44	0	946.52	7894.87
+28	-109.33	1668.4	68.97	2020.21	0	950.76	-1448.26
+29	-135.04	1633.91	36.16	2014.44	0	943.36	35241.6
+30	-68.74	1707.61	54.86	2004.22	0	949.18	2467.77
+31	-104.6	1645.05	42.19	1979.93	0	947.28	9233.54
+32	-59.59	1700.74	40.97	1998.66	0	948.31	20429.9
+33	-48.9	1663.21	16.4	1964.38	0	948.64	4301.7
+34	-65.69	1653.75	28.15	1952.52	0	949.35	6994.44
+35	4.12	1679.99	14.72	1962.64	0	949.45	16516.3
+36	-10.22	1625.21	-0.23	1928.58	0	950.3	9016.82
+37	20.29	1637.57	10.99	1927.16	0	949.3	11314.8
+38	58.29	1621.55	10.83	1929.09	0	951.1	10687.2
+39	52.49	1582.18	1.53	1900.52	0	950.8	10411.3
+40	95.52	1586.3	0.69	1904.23	0	949.46	11822.7
+41	95.6	1517.64	4.04	1883.2	0	953.8	3557.08
+42	127.18	1497.8	-13.81	1877.17	0	949.31	14258.2
+43	134.12	1476.59	-6.26	1878.24	0	953.36	5298.04
+44	145.11	1389.01	-20.52	1844.04	0	952.09	11334.3
+45	187.15	1383.97	-12.66	1856.89	0	950.79	8618.79
+46	166.24	1282.81	-14.65	1826.37	0	954.39	7527.9
+47	206.22	1252.75	-24.57	1823.75	0	951.71	9953.26
+48	204.85	1190.34	-16.78	1819.2	0	952.98	4409.03
+49	199.66	1112.37	-23.5	1781.84	0	955.64	11098.4
+50	231.78	1077.27	-29.14	1807.35	0	952.59	1961.62
+51	206.99	969.54	-31.2	1762.24	0	951.82	12201.3
+52	246.66	931.85	-20.6	1773.82	0	955.04	450.65
+53	221.41	843.66	-38.3	1751.4	0	947.21	11001.3
+54	226.82	779.88	-21.29	1755.96	0	954.58	5453.99
+55	242.39	710.6	-21.06	1753.49	0	954.27	1039.02
+56	194.93	636.9	-33.8	1716.46	0	947.87	9836.09
+57	212.86	563.51	-22.51	1725.61	0	954.06	289.67
+58	202.71	500.64	-17.62	1721.52	0	954.07	1017.68
+59	164.11	431.52	-26.86	1671.96	0	945.64	6289.65
+60	182.19	380.86	-14.34	1720.28	0	956.69	-4601.06
+61	144.58	321.81	-15.79	1663.89	0	946.45	2056.02
+62	133.29	282.29	-18.77	1673.38	0	944.59	2500.13
+63	116.5	238.95	-11.14	1691.56	0	950.43	-5887.33
+64	100.71	193.48	-9.31	1634.73	0	943.35	687.01
+65	95.83	175.78	-12.05	1693.29	0	943.61	42.49
+66	52.95	130.77	-11.6	1554.72	0	946.49	629.78
+67	72.4	119.02	6.94	1743.25	0	969.19	-10017.7
+68	43.41	91.86	-6.56	1586.99	0	935.7	-0.44
+69	39.06	70.95	-2.59	1637.47	0	930.46	217.36
+70	35.1	60.27	10.83	1676.97	0	947.79	-3365.2
+71	21.13	34.94	-1.3	1694.75	0	900.17	-1960.07
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+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	-0	-0	-0	2149	0	976.7	-0
+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	-0	-0	-0	2149	0	976.7	-0
+86	-0	-0	-0	2149	0	976.7	-0
+87	-0	-0	-0	2149	0	976.7	-0
+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	-0	-0	-0	2149	0	976.7	-0
+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	-0	-0	-0	2149	0	976.7	-0
+98	-0	-0	-0	2149	0	976.7	-0
+99	0	0	0	2149	0	976.7	0
+100	-0	-0	-0	2149	0	976.7	-0
+101	0	0	0	2149	0	976.7	0
+102	-0	-0	-0	2149	0	976.7	-0
+103	-0	-0	-0	2149	0	976.7	-0
+104	-0	-0	-0	2149	0	976.7	-0
+105	-44.71	34.94	-0.76	1994.87	0	960.45	-8192.84
+106	-0	-0	-0	2149	0	976.7	-0
+107	-0	-0	-0	2149	0	976.7	-0
+108	-32.42	56.15	-6.33	2229.47	0	1013.26	-12158.7
+109	-35.02	69.89	3.59	2139.3	0	1044.51	526.99
+110	-57.37	155.49	9.08	2212.26	0	1035.12	-3197.31
+111	-13.89	194.4	-14.19	2143.38	0	982.41	-998.61
+112	-44.48	316.01	34.41	2159.68	0	1013.7	-8151.29
+113	-22.28	360.87	89.65	2214.84	0	1020.72	6429.47
+114	-38.38	521.55	60.73	2148.54	0	1004.46	12895.8
+115	-81.94	607.76	83.69	2186.57	0	1017.78	-2440.36
+116	-72.33	731.35	80.8	2162.85	0	1017.38	6950.39
+117	-132.37	794.37	26.86	2153.61	0	1020.42	5910.72
+118	-163.35	926.06	-33.11	2173.95	0	1015.25	12861.3
+119	-174.03	917.21	-66.6	2158.61	0	1012.68	-4710.28
+120	-209.05	1007.84	-14.11	2146.06	0	1017.48	-10528.5
+121	-191.57	1058.5	11.06	2166.11	0	1016.69	14554.1
+122	-183.56	1099.24	-8.01	2149.88	0	1019.82	22111
+123	-208.05	1175.54	-14.88	2151.64	0	1020.96	-7618.85
+124	-195.08	1186.52	-7.17	2147.46	0	1015.18	-5058.95
+125	-188.29	1263.28	17.4	2130.83	0	1020.87	11305.8
+126	-226.97	1296.84	-12.13	2123.37	0	1021.45	18998.8
+127	-224.91	1335.14	-23.27	2128.12	0	1017.07	-485.6
+128	-207.21	1410.06	-11.83	2122.63	0	1020.66	-2015.51
+129	-218.05	1398.77	-53.86	2096.93	0	1022.23	21818.6
+130	-194.4	1513.21	-47.15	2110.64	0	1017.21	5760.31
+131	-219.42	1505.13	-21.74	2084.28	0	1025.63	5549.58
+132	-155.79	1585.69	-39.75	2079.32	0	1023.91	8850.72
+133	-154.65	1638.79	-55.01	2087.81	0	1017.83	12448
+134	-181.96	1633.15	-37.99	2044.86	0	1023.78	14489
+135	-71.11	1705.47	-33.19	2065.12	0	1020.36	3978.93
+136	-152.05	1700.9	-41.05	2048.52	0	1019.81	22221.8
+137	-135.96	1710.82	-31.28	2017.55	0	1024.34	12299.8
+138	-70.8	1748.2	-23.12	2047	0	1021.45	4427.89
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+154	163.88	1337.89	-7.48	1856.13	0	1024.39	2754.25
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+157	223.92	1181.03	5.57	1839.34	0	1023.73	-254.08
+158	204.85	1121.67	0.61	1830.27	0	1018.02	-149.36
+159	217.59	1038.97	-0.46	1796.95	0	1021.33	4547.04
+160	243.3	979.16	3.2	1818.6	0	1021.46	2979.43
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+3528	-12.74	1659.55	30.59	2081.03	0	1033.4	9070.82
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+3769	168	427.7	-22.43	1840.84	0	1021.18	1905.7
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+4275	-213.62	1580.81	15.03	2158.56	0	1053.12	10800.8
+4276	-138.93	1652.98	-31.43	2174.76	0	1045.77	20177.3
+4277	-181.35	1657.71	-47.15	2164.88	0	1044.67	15163.9
+4278	-152.66	1669.16	-15.03	2132.9	0	1049.22	5404.36
+4279	-111.77	1711.73	2.21	2153.21	0	1044.49	12690.2
+4280	-176.7	1721.04	-24.19	2126.12	0	1045.71	26532
+4281	-105.13	1716	-11.22	2117.44	0	1047.96	9566.29
+4282	-118.26	1726.23	8.16	2112.11	0	1048.3	11290
+4283	-83.69	1704.41	-24.57	2106.71	0	1047.18	18288.2
+4284	-39.67	1728.97	-30.98	2093.56	0	1044.83	8460.88
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+4286	-16.4	1712.65	-5.57	2090.55	0	1044.26	6510.67
+4287	-48.07	1668.55	-33.65	2055.3	0	1042.95	17276.9
+4288	3.66	1624.3	-1.37	2057.23	0	1048.13	8358.71
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+4291	69.73	1567.84	0.61	2040.79	0	1046.67	4232.48
+4292	31.13	1527.4	-0.38	2019.1	0	1044.24	12989.1
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+4312	116.42	283.2	14.5	1767.24	0	1042.93	-840.41
+4313	113.98	242.92	16.02	1825.89	0	1050.17	-1805.44
+4314	79.8	200.04	5.72	1817	0	1038.29	3906.46
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+4340	-0	-0	-0	2149	0	976.7	-0
+4341	-0	-0	-0	2149	0	976.7	-0
+4342	-0	-0	-0	2149	0	976.7	-0
+4343	-0	-0	-0	2149	0	976.7	-0
+4344	-0	-0	-0	2149	0	976.7	-0
+4345	-0	-0	-0	2149	0	976.7	-0
+4346	-0	-0	-0	2149	0	976.7	-0
+4347	-0	-0	-0	2149	0	976.7	-0
+4348	-0	-0	-0	2149	0	976.7	-0
+4349	-0	-0	-0	2149	0	976.7	-0
+4350	-0	-0	-0	2149	0	976.7	-0
+4351	-0	-0	-0	2149	0	976.7	-0
+4352	-0	-0	-0	2149	0	976.7	-0
+4353	-0	-0	-0	2149	0	976.7	-0
+4354	-0	-0	-0	2149	0	976.7	-0
+4355	-0	-0	-0	2149	0	976.7	-0
+4356	-0	-0	-0	2149	0	976.7	-0
+4357	-0	-0	-0	2149	0	976.7	-0
+4358	-0	-0	-0	2149	0	976.7	-0
+4359	-0	-0	-0	2149	0	976.7	-0
+4360	12.74	35.55	6.48	2686.14	0	993.95	-5226.5
+4361	-0	-0	-0	2149	0	976.7	-0
+4362	-76.9	50.35	-9.61	1941.24	0	952.05	4644.22
+4363	38.83	78.74	-7.63	2507.56	0	1040.87	-9506.68
+4364	-25.71	77.51	-14.95	2110.17	0	919.29	-13171.7
+4365	-60.58	212.4	18.08	2243.57	0	985.7	900.11
+4366	8.93	232.7	21.36	2292.46	0	992.62	11434.6
+4367	-15.41	387.88	32.27	2237.55	0	987.8	-558.21
+4368	-8.62	483.09	12.59	2298.89	0	976.27	-683.39
+4369	-25.94	805.21	-12.97	2253.48	0	985.78	8769.63
+4370	-138.17	902.56	-15.34	2272.57	0	975.63	-7416.5
+4371	-183.03	1137.7	77.59	2240.36	0	990.76	-30387.9
+4372	-213.55	1170.65	114.82	2245.85	0	989.28	27985.7
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+4376	-209.96	1260.99	-90.94	2230.72	0	995.29	-15679
+4377	-202.71	1200.71	-92.7	2241.26	0	989.05	-2068.69
+4378	-196.08	1282.04	-20.07	2228.38	0	994.24	6836.14
+4379	-215.45	1302.64	-16.33	2216.32	0	994.55	-14035
+4380	-173.72	1300.35	-22.81	2222.54	0	991.42	9500.95
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+4382	-184.78	1337.13	58.44	2218.28	0	994.85	-321.41
+4383	-205.76	1383.67	46.23	2178.04	0	988.17	10964.2
+4384	-186.77	1401.21	36.47	2191.53	0	984.01	1105.08
+4385	-212.86	1443.79	109.71	2172.43	0	994.85	588.06
+4386	-157.7	1467.59	83.01	2174.73	0	983.77	13251.4
+4387	-202.87	1510.62	80.03	2158.58	0	988	3719.14
+4388	-143.2	1528.02	96.59	2149.29	0	989.42	12981.4
+4389	-109.33	1555.02	97.73	2159.81	0	985.8	4455.51
+4390	-190.81	1579.9	64.47	2108.07	0	989.38	6819.07
+4391	-70.34	1580.96	68.05	2145.31	0	988.57	13801.5
+4392	-131	1638.34	80.95	2122.83	0	988.73	3373.19
+4393	-116.73	1596.22	50.35	2093.56	0	989.14	4595.78
+4394	-40.74	1656.49	62.33	2111.42	0	988.48	11157.7
+4395	-110.02	1610.41	53.56	2073.97	0	987.87	9463.97
+4396	-15.72	1637.88	58.21	2084.63	0	988.45	2476.81
+4397	-45.7	1617.28	43.03	2059.45	0	989.71	14468.6
+4398	-14.57	1602.17	47.3	2068.9	0	991.14	5425.31
+4399	5.34	1603.55	46.46	2045.24	0	989.25	4686.28
+4400	-6.03	1551.06	31.89	2032.26	0	990.53	8826.49
+4401	51.12	1575.01	32.2	2044.14	0	989.7	4213.7
+4402	29.07	1508.79	29.6	2009.65	0	990.39	12796.9
+4403	83.69	1498.26	26.78	2010.81	0	990.77	1571.22
+4404	98.42	1483.31	20.45	2006.3	0	990.82	5070.83
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+4406	141.53	1407.01	22.96	1989.95	0	994.17	2552.94
+4407	131.99	1319.12	-6.18	1957.41	0	991.38	7570.87
+4408	173.19	1298.52	1.45	1964.33	0	992.09	7800.87
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+4410	183.18	1175.54	-7.17	1931.3	0	992.34	10351.2
+4411	195.54	1118.62	-4.96	1924.6	0	994.07	5307.1
+4412	193.41	1038.82	-5.87	1913.37	0	995.44	345.92
+4413	216.67	1002.5	-15.72	1905.27	0	990.81	10270.6
+4414	201.49	921.17	-13.2	1887.7	0	994.25	10176.7
+4415	214.54	843.35	-7.55	1875.36	0	996.41	1529.32
+4416	229.64	810.85	-13.5	1887.8	0	991.49	3522.48
+4417	207.9	689.24	-14.57	1839.05	0	996	7669.73
+4418	229.72	670.62	-8.62	1872.66	0	992.72	3296.72
+4419	194.09	580.9	-12.66	1830	0	993.95	4813.28
+4420	204.62	515.14	-9.16	1838.37	0	998.39	562.42
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+4422	153.12	398.41	-12.13	1788.81	0	996.84	5039.1
+4423	172.96	355.99	-6.87	1826.2	0	997.45	284.93
+4424	130.46	298.61	-8.24	1831.95	0	986.35	2762.37
+4425	122.07	258.94	-8.47	1740.69	0	996.32	-455.55
+4426	119.17	214.69	-0.92	1802.6	0	1004.6	-5629.97
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+4430	48.75	104.98	-5.04	1814.11	0	957.91	1177.54
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+4434	-0	-0	-0	2149	0	976.7	-0
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