/usr/share/sdformat/1.0/contact.sdf is in libsdformat1 1.4.11-1.
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 | <element name="contact" required="0">
<element name="collision" required="1">
<attribute name="name" type="string" default="__default__" required="1"/>
</element> <!-- End Collision -->
<element name="topic" type="string" default="__default_topic__" required="1"/>
</element> <!-- End Contact -->
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