<model name="box">
      <pose>0 -1 0.5 0 0 0</pose>
      <link name="box_link">
        <inertial>
          <inertia>
            <ixx>1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>1</iyy>
            <iyz>0</iyz>
            <izz>1</izz>
          </inertia>
          <mass>1.0</mass>
        </inertial>
        <collision name="box_collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="box_visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <ambient>0 0 0.5 1</ambient>
            <diffuse>0 0 1 1</diffuse>
            <specular>0 0 0.3 1</specular>
          </material>
          <plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
            <label>10</label>
          </plugin>
        </visual>
      </link>
    </model>