/usr/share/sdformat/1.0/gripper.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 | <!-- Gripper -->
<element name="gripper" required="*">
<attribute name="name" type="string" default="__default__" required="1"/>
<element name="grasp_check" required="0">
<attribute name="detach_steps" type="int" default="40" required="0"/>
<attribute name="attach_steps" type="int" default="20" required="0"/>
<attribute name="min_contact_count" type="unsigned int" default="2" required="0"/>
</element>
<element name="gripper_link" type="string" default="__default__" required="+"/>
<element name="palm_link" type="string" default="__default__" required="1"/>
</element>
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