Link state Name of the link Velocity of the link. The x, y, z components of the pose correspond to the linear velocity of the link, and the roll, pitch, yaw components correspond to the angular velocity of the link Acceleration of the link. The x, y, z components of the pose correspond to the linear acceleration of the link, and the roll, pitch, yaw components correspond to the angular acceleration of the link Force and torque applied to the link. The x, y, z components of the pose correspond to the force applied to the link, and the roll, pitch, yaw components correspond to the torque applied to the link Collision state Name of the collision