/usr/share/sdformat/1.0/inertial.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 12 13 14 15 16 17 | <!-- Inertial -->
<element name="inertial" required="0">
<attribute name="mass" type="double" default="1.0" required="0"/>
<attribute name="density" type="double" default="1.0" required="0"/>
<element name="origin" required="0">
<attribute name="pose" type="pose" default="0 0 0 0 0 0" required="1"/>
</element> <!-- End Origin -->
<element name="inertia" required="0">
<attribute name="ixx" type="double" default="0.0" required="1"/>
<attribute name="ixy" type="double" default="0.0" required="1"/>
<attribute name="ixz" type="double" default="0.0" required="1"/>
<attribute name="iyy" type="double" default="0.0" required="1"/>
<attribute name="iyz" type="double" default="0.0" required="1"/>
<attribute name="izz" type="double" default="0.0" required="1"/>
</element> <!-- End Inertia -->
</element> <!-- End Inertial -->
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