Name of the world this state applies to Simulation time stamp of the state [seconds nanoseconds] Wall time stamp of the state [seconds nanoseconds] Real time stamp of the state [seconds nanoseconds] A list of new model names A list of deleted model names The name of a deleted model Model state Name of the model Pose of the model Joint angle Name of the joint Index of the axis. Angle of an axis Link state Name of the link Pose of the link relative to the model Velocity of the link Acceleration of the link Force applied to the link Collision state Name of the collision Pose of the link relative to the model