The model element defines a complete robot or any other physical object. A unique name for the model. This name must not match another model in the world. If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine. Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints. A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame.