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The error is decently descriptive of the problem. The generated URDF has the link world_interface defined twice with the line <link name="world_interface"/> appearing around line number 10 and 333.

Check your xacro to see if it defines this link multiple times. It would be better to fix the xacro, but deleting line 333 should allow you to continue.

If you want help with the issue in the xacro, please post that as well.

Hope this helps!

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