urdfTbrk5RGcx_Z6LGkbam3KEhduC39G660CLWhhe3HWUZ5xINjPaNMcx0iFQA6QtHbP2lGgWYufTtqrmW8KwZO3hCBcqU9k6vcRo2hrKM5QpzZiAh-SPEZVFndo-lJiqgYpzdsbjaYgIPlRROwA2KtFlx8G-IpEWtFNxLfIJ90d9AVRpmslpq16YCwV4TDlwd-Dn745G8u2WoPhp3dy5RAg0eeldjyjOkbBbU5mVhh46UX4l3OO8XLi8vTP85WQvbpQ9nCbDqcwdIat22SA_HXCouDxYHRPKNPdAoa3hkCmUOmEarbDE0x8yOzwHSmaswpr1___dykG6jmT4uAogjiMXJTuZFiP8MWAyd-HgJpnYPUS05tmBrSPXOGKveWHHrG62OAxjnNfISflg3swbGFoD-1-gIx4JYYdbS5ZruE