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It seems to be the other way round. You have to describe your model in URDF and feed it to Gazebo. See this tutorial and this answer.

It seems ~~to be the other way round. You have to describe your model in URDF and feed it to Gazebo.~~ you can't avoid URDF. See this answer. Here is a tutorial ~~and this answer.~~describing how to work with URDF in Gazebo.

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