time
body.body.Q[1]
body.body.Q[2]
body.body.Q[3]
body.body.Q[4]
body.body.frame_a.r_0[1]
body.body.frame_a.r_0[2]
body.body.frame_a.r_0[3]
body.body.w_a[1]
body.body.w_a[2]
body.body.w_a[3]
body.v_0[1]
body.v_0[2]
body.v_0[3]
