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Please look into Phobos, a blender plugin that allows you to import/export URDF/SDF files into blender(world files are SDF files). https://github.com/dfki-ric/phobos

Please look into Phobos, a blender plugin that allows you to import/export URDF/SDF files into ~~blender(world files are SDF files).~~ blender, this should work with the first option you tried. https://github.com/dfki-ric/phobos

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