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How to set the pose of a box importing data

Hi there! I am using gazebo-11 to test the navigation algorithm based on visual odometry implemented on NASA's Curiosity rover.

In particular, I created a stereo camera model and I made it move along a line and take photos at a certain rate. In order to simulate osbtacles I introduced manually (it took me a great amount of time!!!) in the .world file a number of boxes (about 200) which are different from each other in terms of dimensions, position and orientation.

Is there a way to import from a .txt file (or other formats) the information about pose and size of each box so that a box of such size and pose is actually introduced in the Gazebo world (the GUI)?

Probably I have to write a plugin or something similar. Than you so much in advance!!