/usr/share/sdformat/1.0/surface.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 | <element name="surface" required="0">
<element name="bounce" required="0">
<attribute name="restitution_coefficient" type="double" default="0" required="0"/>
<attribute name="threshold" type="double" default="100000" required="0"/>
</element> <!-- End Bounce -->
<element name="friction" required="0">
<element name="ode" required="0">
<attribute name="mu" type="double" default="-1" required="0"/>
<attribute name="mu2" type="double" default="-1" required="0"/>
<attribute name="fdir1" type="vector3" default="0 0 0" required="0"/>
<attribute name="slip1" type="double" default="0.0" required="0"/>
<attribute name="slip2" type="double" default="0.0" required="0"/>
</element> <!-- End ODE -->
</element> <!-- End Friction -->
<element name="contact" required="0">
<element name="ode" required="0">
<attribute name="soft_cfm" type="double" default="0" required="0"/>
<attribute name="soft_erp" type="double" default="0.2" required="0"/>
<attribute name="kp" type="double" default="1000000000000.0" required="0"/>
<attribute name="kd" type="double" default="1.0" required="0"/>
<attribute name="max_vel" type="double" default="0.01" required="0"/>
<attribute name="min_depth" type="double" default="0" required="0"/>
</element> <!-- End ODE -->
</element> <!-- End Contact -->
</element> <!-- End Surface -->
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