Scales to measure its mass and a ruler to measure the length of the cube's side.
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You would need a balance to measure its mass. You would need a ruler to measure the length of its sides. Then you would need to calculate volume. Then divide the mass by the volume to get density.
To find the density you need the mass and volume and then, density = mass/volume. Given a ruler, you can easily measure an edge of the cube. If that is x units, then the volume is x3 cubic units. However, it is not clear how you find a mass with just a balance. You need some standard weights, but these do not appear to be provided. You are stuck and cannot answer the question.
There are different compositions of rubber. You would need to find the density of the rubber in question
The shape of an object is not enough to calculate its density. You also need its mass and then Density = Mass/Volume.
All you need is a graduated ruler to measure the length of one edge. From there one calculates the volume. For a cube, which has edges of equal length, you can find the the volume by cubing the length of an edge. Vcube = e3