Use YCB Dataset Objects in Gazebo

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.
YCB objects

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

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