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You can create complex models and shapes using Blender or Sketchup and exporting the mesh as a .dae file. Then you would need to create a folder for the model in your models directory and include a model.config and model.sdf files. You can view the structure of these files here:

For example, take a look at the mcity model in the car_demo repo:

Once you create your model folder and files, you can just include them at their position in the world file.

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