Squirrels have fuzzy tails.

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If by "inertia matrix" you mean "inertia tensor"

Either your math is wrong, or your system of linkages is such that it purposefully emulates such as system

it's devolving to a 2D, flat, system.

the equations of motion are quite complex, involving about 50 trigonometric terms.

The initial model was derived by hand through the euler-lagrange equation.