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That mechanism for include is only meant for models as far as I can tell from reading the source code: https://bitbucket.org/osrf/sdformat/src/default/src/parser.cc#lines-790

However, one method is to used embedded ruby to generate the world files. Here's an example/information: http://gazebosim.org/tutorials?tut=model_structure&cat=build_robot#ModelSDF.ERB

There might be way to use ERB here, but I tried a few things and they didn't work so I'm not totally sure. Best of luck!