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. If set to true, all links in the model will collide with each other (except those connected by a joint). Can be overridden by the link or collision element self_collide property. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide. 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. Include resources from a URI. This can be used to nest models. URI to a resource, such as a model Override the pose of the included model. 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. Override the name of the included model. Override the static value of the included model. A nested model element A unique name for the model. This name must not match another nested model in the same level as this model.