/usr/share/sdformat/1.2/contact.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 | <element name="contact" required="0">
<description>These elements are specific to the contact sensor.</description>
<element name="collision" type="string" default="__default__" required="1">
<description>name of the collision element within a link that acts as the contact sensor.</description>
</element> <!-- End Collision -->
<element name="topic" type="string" default="__default_topic__" required="1">
<description>Topic on which contact data is published.</description>
</element>
</element> <!-- End Contact -->
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