You can apply for the object set here. The set consists of 77 objects divided into 5 categories: Food items, kitchen items, tool items, shape items, task items.
Food items: back row: chips can, coffee can, cracker box, box of sugar, tomato soup can; middle row: mustard container, tuna fısh can, chocolate pudding box, gelatin box, potted meat can; front: plastic fruits (lemon, apple, pear, orange, banana, peach, strawberries, plum).
Kitchen items: back row: pitcher, bleach cleanser, glass cleaner; middle row: plastic wine glass, enamel-coated metal bowl, metal mug, abrasive sponge; front: cooking skillet with glass lid, metal plate, eating utensils (knife, spoon, fork), spatula, white table cloth.
Tool items: back row, from left: a power drill and wood block; middle row, from left: scissors, a padlock and keys, markers (two sizes), an adjustable wrench, Phillips- and flat-head screwdrivers, wood screws, nails (two sizes), plastic bolts and nuts, and a hammer; front row: spring clamps (four sizes).
Shape items: back row: mini soccer ball, softball, baseball, tennis ball, racquetball, golf ball; front: plastic chain, washers (seven sizes), foam brick, dice, marbles, rope, stacking blocks (set of 10), credit card blank.
Task items: First row: Box and blocks test, 9 hole peg test, timer; second row: Lego Dublo, magazine; third row: Rubick’s cube, t-shirt, airplane toy.
The content of the object set is explained in  and . A checklist with the physical properties of the objects can be found here. If you would like to buy individual objects of the set, a list of purchase links can be found here.
 Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols, IEEE Robotics and Automation Magazine, pp. 36 – 52, Sept. 2015.
 The YCB Object and Model Set: Towards Common Benchmarks for Manipulation Research, proceedings of the 2015 IEEE International Conference on Advanced Robotics (ICAR), Istanbul, Turkey, 2015.