Tested with Blender 2.93
Blender importer for Vagrant Story .WEP, .SHP, .ZUD, and .MPD models. I would rate compatibility as "fair".
To use, save import_vagrant_story.py to your computer, install it as a Blender addon, and enable "Vagrant Story Model Importer".
Insert the Vagrant Story CD or mount the ISO,
and look for model files in the OBJ/ and MAP/ folders.
Open the importer with File > Import > Vagrant Story,
and pick the model you want to import.
Thanks goes to morris's Vagrant Story Tools where I cribbed all the code from. There's also another Blender addon with import and export support: https://github.com/korobetski/blender-vagrant-story.
WEPs are weapons.
MPDs are maps. If you're looking for a specific map, look it up in this table.
Textures are stored in a zone (.ZND) file. The importer uses the above table to automatically load the right zone file for your MPD. If it can't find a zone file, the map will be untextured.
SHPs are characters. ZUDs are units (basically a SHP + WEP + SEQ).
SEQ files contain animations. When you load a SHP or ZUD model, the importer automatically looks for SEQs to load too. To see your model's animations, open the Nonlinear Animation Editor. To change the animation that's playing, click the star next to the track you want to play.
Model files don't contain a rest pose, so the importer uses the first pose from the first animation as the rest pose. If there are no animations, the default rest pose will look, uh... bad (you'll be able to tell).
If you don't like the rest pose, you can change it to a different one after importing. With the armature in the pose you want, make sure the armature is the active object, and run this line from the Python Console:
from import_vagrant_story import set_rest_pose; set_rest_pose(C)