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I think http://gazebosim.org/models was supposed to be redirecting to http://models.gazebosim.org/.

I see two solutions while the redirection doesn't work:

  1. Set an environment variable with the working URL:

    export GAZEBO_MODEL_DATABASE_URI=http://models.gazebosim.org/
  2. Update to the latest Gazebo 7, which uses the models.gazebosim.org URL by default.