I sometimes use SweetHome3D to visualize spaces. It's a little more accessible being point-and-click CAD, and it takes arbitrary objects in OBJ format (and others). You won't be able to get quite to this level but it can render surprisingly well
I recently had to move, and I designed my new place in sweethome3d before the move in order to know where the furniture would go immediately when I arrive. The result was quite good and you can see it here exported to html/js (though it's a 15MB download) https://nessuent.xyz/schlemann/
I've used SweetHome3D to plan various rooms for renovation - it's very intuitive and surprisingly powerful. Definitely better than trying to do building design with a "real" CAD package. The built in library is pretty comprehensive (and has nice scaling features, so even if a bookshelf model doesn't match yours, you can scale it easily to match), and importing custom 3D CAD designs is straightforward.
http://www.sweethome3d.com/