I created SDF models of most YCB objects to make them available in Gazebo. All models with textures use Google 64k data, models without textures are from Poisson reconstruction. Not all YCB objects are available here, and downloading them is slow, even with small files. However, most of them work perfectly. A detailed list of YCB data can be found at http://ycb-benchmarks.s3-website-us-east-1.amazonaws.com/
Clone this repo in somewhere, then add following lines to your ~/.bashrc
source /usr/share/gazebo/setup.sh
export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<your_clone_path>
You can clone this repo in somewhere, then copy all directories to ~/.gazebo/models
- Adjust friction to reduce model drift and shaking.