/usr/share/sdformat/1.4/collision.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 | <!-- Collision -->
<element name="collision" required="*">
<description>The collision properties of a link. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Unique name for the collision element within the scope of the parent link.</description>
</attribute>
<element name="laser_retro" type="double" default="0" required="0">
<description>intensity value returned by laser sensor.</description>
</element>
<element name="max_contacts" type="int" default="10" required="0">
<description>Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics.</description>
</element>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>The reference frame of the collision element, relative to the reference frame of the link.</description>
</element>
<include filename="geometry.sdf" required="1"/>
<include filename="surface.sdf" required="0"/>
</element> <!-- End Collision -->
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