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@Zwilling : I have a manifest.xml which looks like this :

<model>
  <name>My Robot</name>
  <version>1.0</version>
  <sdf version='1.3'>model.sdf</sdf>

  <author>
   <name>My Name</name>
   <email>me@my.email</email>
  </author>

  <description>
    My awesome robot.
  </description>
</model>

This was written for the gazebo version-1.3. This is what I used to load the model initially on Gazebo and then saved it as a world. Hope this helps.