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Maybe this will help: What I did was create my own models with makehuman . The only tricky part is to be sure that gazebo gets the textures correctly. This is solved putting them on the same folder as the dae. You have to export the model as dae, the light maps and the UV maps. You then edit the dae for referencing the textures localy.

I made a video giving more details if you need them:

Hope it helps.