/usr/ is in liburdf-dev 1.12.6-1build3.
This file is owned by root:root, with mode 0o755.
..
/usr/include/
/usr/include/urdf/
/usr/include/urdf/model.h
/usr/include/urdf/urdfdom_compatibility.h
/usr/lib/
/usr/lib/x86_64-linux-gnu/
/usr/lib/x86_64-linux-gnu/pkgconfig/
/usr/lib/x86_64-linux-gnu/pkgconfig/urdf.pc
/usr/share/
/usr/share/doc/
/usr/share/doc/liburdf-dev/
/usr/share/doc/liburdf-dev/copyright
/usr/share/urdf/
/usr/share/urdf/cmake/
/usr/share/urdf/cmake/urdfConfig-version.cmake
/usr/share/urdf/cmake/urdfConfig.cmake
/usr/share/urdf/package.xml
/usr/lib/x86_64-linux-gnu/liburdf.so
/usr/share/doc/liburdf-dev/changelog.Debian.gz