ppovb5fc7/gazebo/test/worlds/collide_bitmask.world

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">

    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <contact>
               <collide_bitmask>0xff</collide_bitmask>
            </contact>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name="visual">
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Grey</name>
            </script>
          </material>
        </visual>
      </link>
    </model>

    <model name="box1">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.166667</iyy>
            <iyz>0</iyz>
            <izz>2.166667</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x01</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

    <model name="box2">
      <pose>-1.5 1.5 0.5 0 0 1.57</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.166667</iyy>
            <iyz>0</iyz>
            <izz>2.166667</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x02</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

    <model name="box3">
      <pose>0 1.5 1.5 0 0 2.24</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.166667</iyy>
            <iyz>0</iyz>
            <izz>2.166667</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x03</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

    <model name="box4">
      <pose>0 -3 1.0 0 0 0</pose>
      <link name="link">
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.166667</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>2.166667</iyy>
            <iyz>0</iyz>
            <izz>2.166667</izz>
          </inertia>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
          <surface>
            <contact>
              <collide_bitmask>0x10000</collide_bitmask>
            </contact>
          </surface>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>5 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

  </world>
</sdf>