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Hi, I had the same issue and solved it by changing the way I access internet.

More specifically : I have a router provided by ORANGE (french internet provider) and I was not able to launch gazebo because it could not download the model. Then I disconnect my PC from the WiFi of the ORANGE router and I connect in WiFi to my 4G smartphone connection instead and it worked. Later, I also moved to another house and it also solved my problem so I am pretty sure that this problem is associated to my router.

Why : No idea, I know nothing about this kind of stuff and just got lucky to find a fix to my problem. Maybe some firewall issue.