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I had the same problem :).

The workaround I used, I copied all my models into ~/.gazebo/models folder. Then you can either spawn them from gazebo. Or by adding these lines to the .world file:

<world>
...
    <include>
        <uri>model://my_robot</uri>
        <pose>0.3 0.5 0.9 0 0 0</pose>
    </include>
</world>

It is weird they still haven't fixed this bug. It is not very portable having the models in that folder.