A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model. A unique name for the link within the scope of the model. If true, the link is affected by gravity. If true, the link is affected by the wind. If true, the link can collide with other links in the model. Two links within a model will collide if link1.self_collide OR link2.self_collide. Links connected by a joint will never collide. If true, the link is kinematic only If true, the link will have 6DOF and be a direct child of world. Exponential damping of the link's velocity. Linear damping Angular damping