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:

1. Stable friction parameters.
2. Enhanced lighting.
3. HD textures.

For GitHub repo please visit https://github.com/nozomisk/ycb_gazebo_sdf