runtime/sdf_models/models/cube/model.sdf

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="cube">
      <static>0</static>
      <!--gravity>0</gravity-->
    <pose>0 0 0 0 0 0</pose>
    <link name="link">
        <inertial>
            <pose>0.000000 0.000000 0.000000 0.000000 -0.000000 -0.000000</pose>
            <mass>0.005709</mass>
            <inertia>
              <ixx>0.000001</ixx>
              <ixy>-0.000000</ixy>
              <ixz>-0.000000</ixz>
              <iyy>0.000002</iyy>
              <iyz>-0.000000</iyz>
              <izz>0.000001</izz>
            </inertia>
          </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
        <surface>
            <friction>
              <ode>
                <mu>10000</mu>
                <mu2>10000</mu2>
              </ode>
            </friction>
          </surface>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
        <material>
          <script>
            <uri>file://media/materials/scripts/gazebo.material</uri>
            <name>Gazebo/Grey</name>
          </script>
        </material>
      </visual>
    </link>
  </model>
</sdf>