/usr/share/sdformat/1.5/visual.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.
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<element name="visual" required="*">
<description>The visual properties of the link. This element specifies the shape of the object (box, cylinder, etc.) for visualization purposes.</description>
<attribute name="name" type="string" default="__default__" required="1">
<description>Unique name for the visual element within the scope of the parent link.</description>
</attribute>
<element name="cast_shadows" type="bool" default="true" required="0">
<description>If true the visual will cast shadows.</description>
</element>
<element name="laser_retro" type="double" default="0.0" required="0">
<description>will be implemented in the future release.</description>
</element>
<element name="transparency" type="double" default="0.0" required="0">
<description>The amount of transparency( 0=opaque, 1 = fully transparent)</description>
</element>
<element name="pose" type="pose" default="0 0 0 0 0 0" required="0">
<description>The reference frame of the visual element, relative to the reference frame of the link.</description>
</element>
<element name="material" required="0">
<description>The material of the visual element.</description>
<element name="script" required="0">
<description>Name of material from an installed script file. This will override the color element if the script exists.</description>
<element name="uri" type="string" default="__default__" required="+">
<description>URI of the material script file</description>
</element>
<element name="name" type="string" default="__default__" required="1">
<description>Name of the script within the script file</description>
</element>
</element>
<element name="shader" required="0">
<description></description>
<attribute name="type" type="string" default="pixel" required="1">
<description>vertex, pixel, normal_map_objectspace, normal_map_tangentspace</description>
</attribute>
<element name="normal_map" type="string" default="__default__" required="0">
<description>filename of the normal map</description>
</element>
</element>
<element name="lighting" type="bool" default="true" required="0">
<description>If false, dynamic lighting will be disabled</description>
</element>
<element name="ambient" type="color" default="0 0 0 1" required="0">
<description>The ambient color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].</description>
</element>
<element name="diffuse" type="color" default="0 0 0 1" required="0">
<description>The diffuse color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].</description>
</element>
<element name="specular" type="color" default="0 0 0 1" required="0">
<description>The specular color of a material specified by set of four numbers representing red/green/blue/alpha, each in the range of [0,1].</description>
</element>
<element name="emissive" type="color" default="0 0 0 1" required="0">
<description>The emissive color of a material specified by set of four numbers representing red/green/blue, each in the range of [0,1].</description>
</element>
</element> <!-- End Material -->
<include filename="geometry.sdf" required="1"/>
<include filename="plugin.sdf" required="*"/>
</element> <!-- End Visual -->
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