Although YCB Benchmarks has provided a series of mesh files, they still cannot be used directly in Gazebo because of the missing some of the physical properties.
I made SDF models for most YCB objects that can be used directly in Gazebo, and provided them with the following optimizations:
- Stable friction parameters.
- Enhanced lighting.
- HD textures.
![](https://chengke.name/wp-content/uploads/2020/12/2ade45cc4750411bb1c8f97b293c01d3-1024x600.jpg)