The model element defines a complete robot or any other physical object. The name of the model and its implicit frame. This name must be unique among all elements defining frames within the same scope, i.e., it must not match another //model, //frame, //joint, or //link within the same scope. The name of the model's canonical link, to which the model's implicit coordinate frame is attached. If unset or set to an empty string, the first `/link` listed as a direct child of this model is chosen as the canonical link. If the model has no direct `/link` children, it will instead be attached to the first nested (or included) model's implicit frame. The frame inside this model whose pose will be set by the pose element of the model. i.e, the pose element specifies the pose of this frame instead of the model frame. If set to true, the model is immovable; i.e., a dynamics engine will not update its position. This will also overwrite this model's `@canonical_link` and instead attach the model's implicit frame to the world's implicit frame. This holds even if this model is nested (or included) by another model instead of being a direct child of `//world`. 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. The included resource can only contain one 'model' element. The URI can point to a directory or a file. If the URI is a directory, it must conform to the model database structure (see /tutorials?tut=composition&cat=specification&#defining-models-in-separate-files). Merge the included nested model into the top model URI to a resource, such as a model Override the name of the included model. Override the static value of the included model. The frame inside the included model whose pose will be set by the specified pose element. If this element is specified, the pose must be specified. 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. If set to true, all links in the model will be affected by the wind. Can be overridden by the link wind property.