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Exporting .dae files from Blender to make actors in Gazebo

I have created a Blender model with rigging and animation and I’m trying to export it as Collada for Gazebo to load it in as an actor.

I tried exporting without changing the default settings. Then, I created a test world file with an actor element referencing this Collada file as the skin. Gazebo does not start up properly when trying to load the world file.

Is there a specific set of instructions to make custom Blender models for Gazebo actors? Previously I have made .dae files purely for static meshes and had no issues.

Currently using Gazebo 9, Ubuntu 18.04.5 LTS