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Try running gazebo in verbose mode: gazebo --verbose <world_file>.

You'll probably see a message about incorrect SDF syntax. For example, the second line of you SDF model should be this:

 <pose>0 0 2 0 0 0</pose>

The last three numbers represent roll, pitch, and yaw.

Everything else looks good, but I might have missed something.

Try running gazebo in verbose mode: gazebo --verbose <world_file>.

You'll probably see a message about incorrect SDF syntax. For example, the second line of you SDF model should be this:

 <pose>0 0 2 0 0 0</pose>

The last three numbers represent roll, pitch, and yaw.

Everything else looks good, but I might have missed something.

Update:

Yup, your model had more than one problem. Did you run gazebo in verbose mode? I copied your model into a world, and gazebo outputs:

Error [parser.cc:292] Error parsing XML in file [/data/gazebo_copy/worlds/empty.world]: Error reading end tag.
[Err] [Server.cc:380] Unable to read sdf file[worlds/empty.world]

Looking at your model file, you need to properly close the <inertia> block. The <iyy> tag also is not closed properly.