/usr/share/sdformat/1.3/model.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 | <!-- Model -->
<element name="model" required="*">
<description>The model element defines a complete robot or any other physical object.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>A unique name for the model. This name must not match another model in the world.</description>
</attribute>
<element name="static" type="bool" default="false" required="0">
<description>If set to true, the model is immovable. Otherwise the model is simulated in the dynamics engine.</description>
</element>
<element name="allow_auto_disable" type="bool" default="true" required="0">
<description>Allows a model to auto-disable, which is means the physics engine can skip updating the model when the model is at rest. This parameter is only used by models with no joints.</description>
</element>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>A position and orientation in the global coordinate frame for the model. Position(x,y,z) and rotation (roll, pitch yaw) in the global coordinate frame.</description>
</element>
<include filename="link.sdf" required="+"/>
<include filename="joint.sdf" required="*"/>
<include filename="plugin.sdf" required="*"/>
<include filename="gripper.sdf" required="*"/>
</element> <!-- End Model -->
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