/usr/share/sdformat/1.5/link.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 34 35 36 37 38 39 40 41 42 43 44 45 46 47 | <!-- Link -->
<element name="link" required="+">
<description>A physical link with inertia, collision, and visual properties. A link must be a child of a model, and any number of links may exist in a model.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>A unique name for the link within the scope of the model.</description>
</attribute>
<element name="gravity" type="bool" default="true" required="0">
<description>If true, the link is affected by gravity.</description>
</element>
<element name="self_collide" type="bool" default="false" required="0">
<description>If true, the link can collide with other links in the model.</description>
</element>
<element name="kinematic" type="bool" default="false" required="0">
<description>If true, the link is kinematic only</description>
</element>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>This is the pose of the link reference frame, relative to the model reference frame.</description>
</element>
<element name="must_be_base_link" type="bool" default="false" required="0">
<description>If true, the link will have 6DOF and be a direct child of world.</description>
</element>
<element name="velocity_decay" required="1">
<description>Exponential damping of the link's velocity.</description>
<element name="linear" type="double" default="0.0" required="1">
<description>Linear damping</description>
</element>
<element name="angular" type="double" default="0.0" required="1">
<description>Angular damping</description>
</element>
</element> <!-- End velocity decay -->
<include filename="inertial.sdf" required="0"/>
<include filename="collision.sdf" required="*"/>
<include filename="visual.sdf" required="*"/>
<include filename="sensor.sdf" required="*"/>
<include filename="projector.sdf" required="*"/>
<include filename="audio_sink.sdf" required="*"/>
<include filename="audio_source.sdf" required="*"/>
</element> <!-- End Link -->
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