/usr/share/sdformat/1.0/physics.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 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 | <!-- Physics -->
<element name="physics" required="1">
<attribute name="type" type="string" default="ode" required="1"/>
<attribute name="update_rate" type="double" default="0" required="0"/>
<element name="max_contacts" type="int" default="20" required="0"/>
<element name="gravity" required="1">
<attribute name="xyz" type="vector3" default="0 0 -9.8" required="1"/>
</element> <!-- End Gravity -->
<element name="bullet" required="0">
<element name="dt" type="double" default="0.003" required="1"/>
</element>
<element name="ode" required="0">
<element name="solver" required="1">
<attribute name="type" type="string" default="quick" required="1"/>
<attribute name="dt" type="double" default="0.001" required="1"/>
<attribute name="iters" type="int" default="50" required="1"/>
<attribute name="precon_iters" type="int" default="0" required="0"/>
<attribute name="sor" type="double" default="1.3" required="1"/>
</element> <!-- End Solver -->
<element name="constraints" required="1">
<attribute name="cfm" type="double" default="0" required="1"/>
<attribute name="erp" type="double" default="0.2" required="1"/>
<attribute name="contact_max_correcting_vel" type="double" default="100.0" required="1"/>
<attribute name="contact_surface_layer" type="double" default="0.001" required="1"/>
</element> <!-- End Constraints -->
</element> <!-- ODE -->
</element> <!-- Physics -->
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