diff --git a/raspimouse_gazebo/models/cube_30cm_black/model.config b/raspimouse_gazebo/models/cube_30cm_black/model.config
new file mode 100644
index 0000000..0c30a0d
--- /dev/null
+++ b/raspimouse_gazebo/models/cube_30cm_black/model.config
@@ -0,0 +1,16 @@
+
+
+
+ Black Cube 30cm
+ 1.0
+ model.sdf
+
+
+ YusukeKato
+ yusuke.kato@rt-net.jp
+
+
+
+ Cube
+
+
diff --git a/raspimouse_gazebo/models/cube_30cm_black/model.sdf b/raspimouse_gazebo/models/cube_30cm_black/model.sdf
new file mode 100644
index 0000000..b20f11f
--- /dev/null
+++ b/raspimouse_gazebo/models/cube_30cm_black/model.sdf
@@ -0,0 +1,38 @@
+
+
+
+
+
+
+ 1
+ 0
+ 0
+ 1
+ 0
+ 1
+
+ 1.0
+
+
+
+
+ 0.3 0.3 0.3
+
+
+
+
+
+ 0 0 0 1
+ 0 0 0 1
+ 0 0 0 0
+ 0 0 0 1
+
+
+
+ 0.3 0.3 0.3
+
+
+
+
+
+
diff --git a/raspimouse_gazebo/worlds/lakehouse.sdf b/raspimouse_gazebo/worlds/lakehouse.sdf
index 32d2038..b29eb53 100644
--- a/raspimouse_gazebo/worlds/lakehouse.sdf
+++ b/raspimouse_gazebo/worlds/lakehouse.sdf
@@ -42,5 +42,47 @@
+
+
+ model://cube_30cm_black
+
+ -0.5 0 0.075 0 0 0
+
+
+
+
+ model://cube_30cm_black
+
+ -0.5 1.0 0.075 0 0 0
+
+
+
+
+ model://cube_30cm_black
+
+ -0.5 -1.0 0.075 0 0 0
+
+
+
+
+ model://cube_30cm_black
+
+ 2.0 0 0.075 0 0 0
+
+
+
+
+ model://cube_30cm_black
+
+ 2.0 1.0 0.075 0 0 0
+
+
+
+
+ model://cube_30cm_black
+
+ 2.0 -1.0 0.075 0 0 0
+
+