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The WorldPose() function return ignition::math::Pose3d which consists of the position and orientation. You can get these like this:

ignition::math::Vector3 pos = this->model->GetLink("link1")->WorldPose()->Pos();

ignition::math::Quaternion rot = this->model->GetLink("link1")->WorldPose()->Rot();

Since the twist is a combination of angular_vel + linear_vel you just combine the WorldLinearVel() and WorldAngularVel() and you have it.