Attached Geoms: indicates the entities that are assembled into a rigid body. Click on or to add or remove geometries.

Dynamic/Kinematic: indicates if the body is dynamic or static (Kinematic).

Collides with connected body(ies): indicates whether or not the physics engine needs to test for collisions between this rigid body and its "neighbor" when they are connected.

Example 1: an articulated arm is composed of several rigid bodies connected by joints:

If this option is not activated, the simulator does not try to resolve, for example, collisions between the arm and the base. This accelerates simulation but makes it less realistic, as the arm can pass through the base.

If this option is activated, the arm and the base can enter into contact with each other, providing more realistic simulation, but at the cost of more calculation time.

Example 2:
The wheels on a robot touch its casing:
If this option is activated the wheels are unable to rotate.
If the option is not activated, the wheels can rotate.

Gravity enabled: indicates if gravity force vector is applied on the rigid body.

Gyroscopic effect: enable/disable the gyroscopic effect.

Auto Disable: enable/disable the Auto Disable flag. If enabled, the checkbox's right side button let user to configure this working mode.

Anchor size: indicates the size of the blue square in the model. This property is purely visual and has no effect in the simulation.