Taxis are available in front of Station Entrance. Take a taxi and order the driver 'Asuwayama no Shizenshi Hakubutsukan (Natural History Museum at Asuwayama Park)'. It will take 10min and cost less than 1000yen.
If you are not good at speaking Japanese, show the driver the following sentence.
「足羽山の上の自然史博物館へお願いします」

[From JR Fukui Stn...]

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