I want to build an indoor distribution center (DC) model. I'm trying to do it directly on gazebo using bookshelves and boxes to create the environment, but it looks not very elegant. Gazebo is limited on that. Anyone knows whether there is a program to build it an then import to Gazebo? In this case, how gonna behavior the sdf files generated by Gazebo? I mean there will be a full description to each element I created in the imported file?

I'm using gazebo 8, but I intend to downgrade to gazebo 7 on the new ROS release.