/usr/lib/x86_64-linux-gnu/liburdfdom_model.so is in liburdfdom-dev 0.4.1-1.
This file is owned by root:root, with mode 0o777.
It is a symlink to /usr/lib/x86_64-linux-gnu/liburdfdom_model.so.0.4
/usr/lib/x86_64-linux-gnu/liburdfdom_model.so.0.4