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ycb-fixed-meshes / 015_peach /tsdf /nontextured.xml
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<KinBody name="015_peach">
<Body type="static" name="015_peach">
<Geom type="trimesh">
<Render>./nontextured.stl</Render>
<Data>./nontextured.stl</Data>
</Geom>
</Body>
</KinBody>