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I had the same problem. Try with a simpler URDF file AND, most important, be sure that all .stl and .dae files[1] are properly downloaded (not using the right taste of the mouse to download them...otherwise it will save a html page) and that they are in the right orders and relative paths.

Let us know.

[1] find every sentence with the word "mesh" and check it three times with the reccomandations above!!! :)