def METHOD_NAME( rigidBodyList, stamp ):
    for (body_id, pos, quat, valid) in rigidBodyList:
        if not valid:
            # skip if rigid body is not valid
            continue
        i = str(body_id)
        if i not in id_dict.keys():
            # unknown A/C ID
            continue
        ac_id = id_dict[i]['ac_id']
        port = int(id_dict[i]['udp_out'])
        # data array = pos + quat
        data = pos + quat
        msg = ac_id+" "+format(stamp,"+0.5f")+" "+" ".join(format(x,"+0.4f") for x in data)
        if args.verbose:
            print('sending to simulink ({},{}): {}'.format(args.simulink_server, port, msg))
        bindata = struct.pack('<fffffffff',float(ac_id),stamp,pos[0],pos[1],pos[2],quat[0],quat[1],quat[2],quat[3])
        sock.sendto(bindata,(args.simulink_server,port))