sixDoFRigidBodyMotion: write state including orientation

e.g.

6-DoF rigid body motion
    Centre of rotation: (0.5 0.449959005542 0.1)
    Centre of mass: (0.499992877433 0.449959005542 0.349999999899)
    Orientation: (0.999999999594 0 -2.84902661966e-05 0 1 0 2.84902661966e-05 0 0.999999999594)
    Linear velocity: (0 -0.0028756594439 0)
    Angular velocity: (0 -0.00244725501844 0)