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export the following shell variables (e.g. in your ~/.bashrc):

  1. export GAZEBO_MODEL_PATH=path/to/models
  2. export GAZEBO_RESOURCE_PATH=path/to/worlds.

Also make sure that all the .sdf files in the model path are inside their corresponding folders and have a model.config file beside them. If the latter is not there the model is not going to be found by gazebo. e.g.

    |--> model.sdf
    |--> model.config