> ## Documentation Index > Fetch the complete documentation index at: https://aegean.ai/llms.txt > Use this file to discover all available pages before exploring further. # Adding objects to the Gazebo simulation world > How to download and insert 3D models into your Gazebo environment This guide explains how to add 3D objects from the [Gazebo Fuel model database](https://app.gazebosim.org/OpenRobotics/fuel/models/) into your TurtleBot Maze simulation environment. ## Download models Browse and download models from the Gazebo Fuel database. Place downloaded model folders into the `models` directory of your workspace: Models folder in the TurtleBot Maze workspace showing downloaded Gazebo models ## Edit the world file Manually edit the `sim_house_enhanced.sdf.xacro` file located at: ``` tb_worlds/worlds/sim_house_enhanced.sdf.xacro ``` File explorer showing the tb_worlds/worlds directory with sim_house_enhanced.sdf.xacro highlighted ## Insert objects into the world Add `` blocks to the SDF file for each object you want to place. Each object needs: * A `` pointing to the model (e.g., `model://AirportBench`) * A unique `` (duplicate names cause errors) * A `` specifying position (`x y z roll pitch yaw`) SDF xacro file showing include blocks for AirportBench, beer, and cricket ball models with pose coordinates **Positioning tips:** * Benches are inserted at `z = -0.29` to make them low enough to be visible * Adjust the `z` coordinate so objects are at a sufficient height to be seen by the robot's camera * Every object must have a unique name or the simulator will throw an error ## Model folder structure Each downloaded model must have the correct directory structure inside the `models` folder: Model directory structure showing meshes, thumbnails, model.config, and model.sdf files A valid model folder contains: * `meshes/`, 3D mesh files * `thumbnails/`, preview images * `model.config`, model metadata * `model.sdf`, model definition Some models from the Fuel database may not be compatible with your Gazebo version. If a model fails to load, try a different one from the database rather than spending time debugging compatibility issues. *** [Edit this page on GitHub](https://github.com/aegean-ai/eaia/edit/main/src/blog/tutorials/gazebo-objects-guide/index.mdx) or [file an issue](https://github.com/aegean-ai/eaia/issues/new/choose).