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I use sdf file and have a script that spawn the sdf file and the script finds the model.sdf. The meshes are found it seems if they are specified relative to the model directory used (I cannot find documentation of exactly what "model" means here...):

  <mesh>
    <uri>model://matrice_100/meshes/lrs_m100.dae</uri>
  </mesh>

This works for me. I also found https://stackoverflow.com/questions/8365394/set-environment-variable-in-python-script which talks about why the simple approach just setting the environment from Python variable will not work. Maybe some of the suggestions there can be adopted to solve it by setting the variable.