From dd39de9eff0efa893225001bdb8151928697fe03 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 21 May 2021 19:51:09 +0200
Subject: [PATCH] tiago_dual: add missing meshes

---
 .../meshes/arm/arm_5-wrist-2010.stl           | Bin 0 -> 75084 bytes
 .../meshes/arm/arm_5_collision-wrist-2010.dae |  63 ++++++++++++++++++
 .../meshes/arm/arm_6-wrist-2010.stl           | Bin 0 -> 18284 bytes
 .../meshes/arm/arm_6_collision-wrist-2010.dae |  63 ++++++++++++++++++
 4 files changed, 126 insertions(+)
 create mode 100644 robots/tiago_description/meshes/arm/arm_5-wrist-2010.stl
 create mode 100644 robots/tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae
 create mode 100644 robots/tiago_description/meshes/arm/arm_6-wrist-2010.stl
 create mode 100644 robots/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae

diff --git a/robots/tiago_description/meshes/arm/arm_5-wrist-2010.stl b/robots/tiago_description/meshes/arm/arm_5-wrist-2010.stl
new file mode 100644
index 0000000000000000000000000000000000000000..b9db2978c31865ffcf1a6bc3c00eeaca0781cac8
GIT binary patch
literal 75084
zcmb@vXIvFOu=u?c6)A!RyHXSo5EW2_b2bS@#0E-HQL$hbY^Z=J#ojyi-uus9IGoMK
z-n%F&f(5(Sd&7SY;(aFG`||OP=fli5Gm~Vq$t1hmDJaDL|IdGS%Sck+Azj&zwq;2B
zrSIjjPo2@{n|Vr|uorT0OBZw`E>Bt6?5k|1_d?r_9#G_Ek7P-jd#x60oKT1OMoI)q
zAYppP1#J(xqqJ`Rl@omiMzWl|nRw=kpK6CKGBUHCuCxq)C(msbgsRLMrqp`(NS=Aw
z8?7q8PYKo<h<f(1>?QhuwR?XF5=cPXl2n{ggIKgbr*?PsA~eqd&3K+)5=RiOhdSKP
zS4O>k`cE8ATf4Jvmw)5vbvFdbY<E|*U{0=5h>VfwRZPQp)>nHDUut8cK#BWtZ-jsC
zEg@ihlC*TVmP!0yPD~>PC6F-uHY=qiX`N*}dvW6&KC_eQ|0Vuv?YrWQqSQb3B&loT
zc($n_CmvK$AOW>pLu53y`-~C~C23M;CsuQ?2RY+^03WewfG%vmt>j>11S1z~_quy`
zmj6s5izcquLJ4eVSdt`}wwGB4D_hbrY%hicY>&5=^-)utuRINX!P`7L+?_UX^S~c%
zQ-yv7we-`R(A<f4OIlWvmN+z|b6R-d;3}yE_FZT%|Fsj+gx@W-v3a=@ZAlv9oO-DQ
zmIbvSElD43Qkma!Kfg!UyoA2nb%2cggQhE~jvwW|aWZ;r<eY8zElE9oda^M?B4nR$
z%^B>kux&&lqWn?3v(^xH!zNe<%Y}sD?@8RAg_q&_==|M*-r1JHrY$H#n|7Abk*(8}
zg<4|-wID4?E>bGXY37CJ<=;^t0ky<l@;EGmRO}I<^G{lghO~-6-#_-&SYE#-U#cB}
zTz!nPXT|5r5&Z8}PclEl-z90zV-4%-KNmMzX-A+Iqyroy(6X@?G;+~pPDoS6l9Y@!
z6gTovq2yD`2t+=d)Lc7tRj?;X`#WT?4_#f5wf|@YZ9u{;Bm(U_Q&#JI_7b;|Rg}h@
zrlz8_d4&Q2wPLteGv<`n=9Im_i4P`e%&4Fy-jX|4N#>GCBWq~GHK*lUJX+JLF50{0
zPRcbMB2eq_ftt)Vft;9aHI^-Y)DkDy9#NoHe47Z=WYPacY-$n3Tnenn4D-blmIVo0
zh1>A)DzPU?My?sG?9ojqFL{3!B%oF~`iGcSt_Sz3QT#~OZ~P>DxpE^le`q8ceXg?h
zOHhd5yW#H*lbdMIc|>p``&&4>RQ)opROhmKv2hf75Ku|GcT<RL_<dvgM@{DD0D+dI
zPq7jk;@J<se%p~juOP9H(`GfUXeJN!=Qh3!lbB6xKiu)LNI<QnoEZ3~x27l%al&KP
zEw#9!BMJS=$1PCrFxpxJB2iEWKkc8$w{9K7vJ%_iX^s7b+J#zT<n4~w;?ZR_xZv$*
z2I~se0<<kjlV_A+n=9V+y*IEcgZ`#*-{0$)pTT#L_|T&gd8@C7B`J*UwvV8FwqMaL
ze1qlQjiYF-s{=HhgOJ>i|L*CZqnWjp@W^XzuT18>sgJWwLK&18eplAq(l{O?GAv1w
za=V5Qmq8Kulv+)&0g19hBk3I@TW#+aA>4-h&Q$U#r98g-^Z<orL9L=8kyN+KQ|r^n
z&`S<#a`E{Vhw;*cj)D!S)kKM)Eg!pSJ?<EY%d0cUve#Wv&qP;+_g9)T*jxL7_fcq1
zB!)a3L*kCL#6H!$=#!8Ls%zUoTgmLCK%}&eppVb}`MV^&TAM*ym+yjl71mau1loYM
zCFy5C2KjbtDRS{2sX#4gZ;C?%9giz&$Lu=C;~3r}jRmZ<R{e_~$xss2GJ@WjXRobZ
z`<&pRBu)FBL7e-CX{#+Pr-e2kVfd~2RZbgIGF~0!M4zz38ab)<|04cs4duimr<0oV
zc~`ktb>3x=z*k$9RT+B(0&1m3MbH)J2WUE7FpSidcDE$!((T#ViZjv8q4vmbd4V!6
z&=|p)lXxGTvec0!gvdm{DFH(QYVC}$LwS?#EB$y$eDqoG$bwtQB)VS$h7w5Z#&r>k
zeOO{!lHQ+8(4LHFgO`06LumeCWu)AMYA+SaIq`G!v1$M{%uDANH_(0#4lMaCN!|-y
z$v!Q1;Iw)P0s*zMT%%;SBQouEqL4=(|IJ8!k()+#rC*n!1QHuZ?9q0(=wE81+dCt5
z4<~fDZU_X_YIM1#{C)?fe`YdWD#oj|vck!t>17$T0ky_&Pm-s~zNI$m-I|JbZipmj
zOpDb6F3pv$)lrEA)`EApfyzxMzfv1b?zP3fKV7n<`(qd%acGycvwnv01CAxIzwx;!
z?^pbeJ1+NgKdqrRj2Us(&(Is7me@<u7pE(sXZy*U-es`z$L-POwocTsLZL8QhBF*V
zs<`~_p-F3)=GE^EA@aQg?6MdAmqC*k6v{9rNkZdXviBxF(iC!n&!S|rWp<RDE0mKW
z?#Y*Db)gwc3WZwdS8daZ*$&P>GzI_IfCRKBNpAgq>L2Bm*S`3b!Jrnj2ji0@&9fYR
z>ySX%_`4W6Bw#<5q$cg%&~~4havsfKW5;8<Hpoqx`k+uY?p%*<otvkW%`22ow`fm2
z+qf&0$2{ac@#OV;^1cS&wQC<|Ferh9^#va~XM+j#Pc#ri_D+<?Et)4szRF-w0tvBp
zlh!tpEoa}--r{jU0&3+S+olxmkEiMGhU=rcbE<Y@HB}o|oWY<35@PK>Swd9X-EGOj
z^vdMmlxk?sgT+eBt_rx$moM_`*;ACbwdHY_8((C_W2&+)yF9=9&2D)?8Q>mALenn^
zT99^6|0-uSnxZ66F%Z@JrV`)4KIr^L2MlL@3E>fF+lnr}sjaU6GZ)R?8O|o|tVAC5
z`7FQ9ia=NXTdG^-dRuOKG6MCUKTCJn?bbgt%avvGu+4c}wzYc`VfG4%%RM7d^@5|i
zEgy1uT|JnkB|Y8uD)(F(G3XW4>enFx%^Oglv%P5`vX=OfK)s{l*uIHCK&=z)Bha|n
z_jK2D3`AjPrrPH>#jdpm33DGf%g{E8LPz_z@tc?>b3zGb>Z>13albku0k!NoQK1d?
zYqi@zTss@XUKAAIv%Zsr+J&Bk1V^B<btmX9RKLNAk+nvW-QiAn-MHxj0kvS;NYdW2
z3)OL}x)WphstT{cj44&+?-psa`G<qD*sm_#Wa_c=W$=(6acqfO2x6`~m5=^+WO${D
zqmS3uE9%GHKTyAg0|WwUMIY{f=I0dZ=eK^q<EXOPnpEpwm$W=$Db#L;M-(!7Jks~S
z-ded4{~iBH*L)VgCG$JZ1#5DR6XTYO1k@VQFbdtPzdmbdfiEYrlbVs#Ri@-;?N91J
z=ScK1G(vZ>Vl!cGI3Yd~wUDdpdTwsciFa$F$$pI~`Qctxg=IPNa{Jsonl<)rbAgtm
zJd=IY`nNH$yV_NV0}`T*6MXbc9bR9%x_uuFT>ZfH4(!vsCvxK6hBulGUms;b2_(e%
z?)Tg2WJ}U|bc{qII3@<q45UpS+hrT(36`n;v=V!$|1)Put=od#m{X68TsW7)xd9w&
z@1L+hVbSI2AL7L{4NG3!ki50~f}jKvaMb1_^+H$nWI86BJa$n?K&_tNj8VOY)}=NE
zEpla+ocLXP7ljf?<PI;AD@>_L4YMdont#Zg%_C97vVoNfC6LfdC*>xCTuN=+;Y2tm
zHoID>Py&fIPKsP7%&pYMbGsX=NyUL=Q_MUBC6K6bc&dD=vrj2e>+>D;I~hRc)+>*o
z1QKw*B1yi(XRGT?Mv<u>eo#n2EvMN@vcHpWX&ghsitzaAeb{;WLJK935a&Jxo#HWd
zN+B)h+i5aZX6gf%1(f&;XMOPQBS|x-)y2)&aI)n0atsNmb^Mo)Qcx3>MqYKqbTwgl
z5*xAWqc4;|0?xZ6DfZDMY;q)tOd6R;=MGw+)Cg)?5+R(0L0Xa$;_u)-qhd(AS+iA0
zK&>lBRAoenYpGY6iFfeW5iw-OwAm_@K%zzMQ%cS#mr}xEpEYp`4<q&W`>Rj_3Hwo>
zl%`*+mJ$!!dXOdKniKbi?iflS@v^N%*B-1`+Ja>`adSd*va_-~h7w4$+iy*;x|);{
z`&dKbzQT{xt!{;(1QKwLB1zrGh7iX!wMq517Ahp5*2IIg=vL)v>1tvTC(f>}P0F{k
zP@x18$0s__9q(_I5*3nT$by{jnC&rFp#&1XryJ7`7dDr!KLTzKCbo4C<B4C4FqA+-
zUDt&6>b<^{xWS1q+rzkSbz=-AkeK74p}W4umJ;R%1{1R=hOJ*OMo<C?I95v1z6L2|
zR?D7v^OQ^q38<wFMl|uLTd9pvoOslxCmzlTD1n4H?%L%S;`^SB@!PVojL#G3+*jTG
zUh~-mTv@<%f+XpbLcIEYBkWr#mhssHopC1I?*N}oKw2bBy*x;4Q65gPuOSdntFK2C
z4cooh_eO}8-v<X&^&m3`<>3iKYcME*1i$Z6DX_Bdq2q?Tv#qNKd0vo*V;k3CPy&g{
zoM`Ej?c)<~Agt<okxI?$6aC0dDwIG1HH@MjajUWdt{d*oyKBtE;m-Yt<*x&HReU7%
zKVzyp&+pq%3(}J0S<9JhJQqkRZ5XSa=p0FJ-NQQ1O3h?Qi-cK1IypSy0sVDggs`H=
z&JnbAU|#djL$1kuu0^+K5_Icp7-nQmT8$>-W~SiW7Dm~yEU5K}=bY}<KdQT3FNYH|
z?v!D+^}CXbS9CIzd}|*;Eg#&_mA{cIS6LHI)8n@4j!F5Ps8z8MNn58S`k4I+^aR=)
z78ybFJm&jW<TG-fTjFcZtDi?}n>j>lp#&0eEh<Sg^#hL8#E{hHviiJd1a)hYRWjQ)
z*F{i=pL2BA_#9sJO1E(U8F6MEu32$`KtQeK9U|yUeU7ee$t-;8!TzMigUxsrS)f7*
zBw#H_(ug}X=nyu9{CKEf*{?25JhVc|ootO`+7~PR5~nCGe2o*3TdW*$o}&CW*|1_s
zv2KaYDz+q}M${xw3(_hoR`%DLs?;i36=lX(QcqqpLSZP4^j~I<b{0R?&2CwY?k_b*
zZyG)?`90Cb7FBN3OV`=-H=kvwJ?g4`-GcGQilYgXKmsM0qhl8xvyXNx=ESSvb=8l1
zTj5uQ$$||?CvGxFcV3>?-3TxcZ67GK!{nc8=Y;MAN+98qW`Rz*&((b$W*|BkeUWSb
zm%+|ls869*l&dA0e|e5>=9Xe45+)HAXh3c{>#sjZTfDGD(aYxOoX!;^NWhXLDRV~;
zx*#Z;><lp@PYzlk-_S<7*{Q_{(jsBo#D?f@6MVl+7%_|VL#vlr=vt2cflj3OqWHNM
zx^^dippTL#YI3+hpMF~6EhycZjPFmIf-O!AA>9L;qGR1HbV2ABT6D|{nYZJ=NB;VU
znCCeeA6PR5H@r23z_K9mrhOx{ubPE!Qzb)PP5e9ymEAfXyO&EAS`gAAF%a2lKMhD@
z6Jjf>FhZ#Hv{ys)tC6d&eX_xZ*WUKzO>m4nXsxXfIka(ios4E2vCz$G_>B`^P!Kt?
zXfB$+ygq>vNKDlDqXj{0^rxzS<%Id$FjC{lE_9-ftw2Dn*RT1`?+FWCr7s4;-+d(6
ze82)PG?|B?L?Cu!wEvcc?t}E16CHk86PF-=EY}Mou+?DOKo2Ep<2_%$xfREf^JQ9L
zSSN-av-6}&N&Ub&l%zAdZuHQvXcAqooX{SSfc;I9Os3D4D;f<acCYpdS&k{k`BiW|
zQ%Nee!Z5EPNw@bmMm?XWk;XSap#>+t$ZtKDD#ha~30jbrq&MZ((X)+vleK+|1g*j<
z#wf0Ds$!I14vYDciO(L;mf1asgXw1swV)?WYMP;~ZR3>&Ez9!W-tXra*<!zzd@J9G
z{I2AJ#<_P<raUsm)<G61sAD_DuCXaLzG;r6vfUN6eHl*NJpC~{Ga{BeE&BmO0%}2f
ze6OgRC5tt6B6a$k37H~DoN_Zqvr~I0CjJH+=6Pe(ZiV6GS&FGZKrJy2^C^|pdWW8&
z9$Ur=EeOZKwS&#kxRVL`uGWT8G`f`;H6Ak?uYQ<F+y<GWpD%am-<U|aQ-5=G%jb@M
z)&L2M{c4P7k+QI59*%E5K)B8!F_Y8n+#c!M%{GiB4y}q5t>aznX(AF(%Wt4LlJjdS
z-Y1MWG3DrT+W)l;neP}O*nnDk9>*h3N5$LLm=lR_OetD82k+7+5*T3zu2tb#ieBUR
z`=9YDMt_;koV5ityqYH1fY$^pNs>~hnNiwqHvaW2k-&0cy@_?zsM%?nv!@O@Y}blF
ze__88371!=6{kEi@+}}*@Cp*Jze!S!CsAy&YX!1tYxbdn1u|+^<EifYo;j#mmW=if
zJFnZv_vNGc-|_yZCBG$Up){7w>CzgL8U;R(fLed|=nW-F(jA9*_TXn-dM^E}IzJI1
zlG3H5tTxsd)ynqP9SRlCvq)0Z<#m);eL|PJrZGssY?QGnLQS_X(ET|%aIeE8b>X=w
zXk&H~TUec-#;3e>4%#<zrHTG1=ccz#H~O`3W`^%B88u^>1+C?d{D0^Pq@g`YI`X)I
zI=A>9I`U==gVv!ItT#zI`@%&X<$oW=d>g}{1QM{`B<bzj<La@BtB|xWo<RvD{?_iF
z$WJcVfTu_6(DIZ72BUqj#UJ(GjCG6V{u_DU7CY1p71Pn_?BQ%jb|89|+eCM&+AE=c
zAT3D?ZbY+$${%F;UO9mXcoc-5WP0h2$37QmzBgf7n|-;eQFl!WW(6TFQ1VhQU8nO;
z<&1AF(4@6qI=b(PEanrlEc>dJ-0jhU9w`h;VC2vq-z7WNTV4Eqzvkh_6b8%nyBUnK
zwtMN)!~V6gwn{(t`K+p@Zyt-G4M-S%d%AShv73+iEIj3HG`ktLO+`C$RA?Q>1WV$3
z6WTbvUGOG!i=R2D|Gh18*&m_Xb>XoPt!U$sSr0}!nd1c^pD@g~!%U%QW9sx(s`KIV
za>tC3LR~?7)1Gudra_*%pQ{b~AA8vVX0&yZTs!8r3d@387S$tBx%Lq{eZXx_+_jpg
z?(6G>ySR)XkbqjyTYkrRgtEQw+*7;C{RzyHuW!~7J(>L8_o=J=PwsVM)4pha$|t<M
zX)hu73JI7`mZV<(Ls?3@iP(GjWYx$n0*!HV${t+oDwKOEA_C=iEYcbN&hH;&D3ik{
z;z6q?t55>-t=at}P&v;trNp%t)!2Hk8f4x1@(fBKG5=Hqs<?A$DN*@lHI~AOX`Fx(
zNc_!T|MALuN(ynz@5}E!(l{vjzX(IdTas=l6V>st$%cJM2@-#Q8?+3kFN{q{saLx#
z&(RKh3gq`&(pkr*;poLqy*{{d0~ywvp+>C#r><@!Cb79OU(oO~$=D${5)BM?&i>ri
zPKNY`evxQy=U2K0H|)4qouZRi{_-zq@vIaKC6M^az3O6fP1ok9fjGI_pP3e#;kxCW
z$hilRsO|lMx~}&f1RDiBTYu7z=!Vs<$BEBDNi1olDQ+H^q{4FhM@69#xt6-EaV~O?
zm?-pv|8{=q%!%9^{;c{dGhFj-eFDpZ^nr{h)X}@5?sQ6hPF(7d%;FNu;A!3Zs89k4
z(Z<oAXQ}sp1+vptv36mN8hX#MCV%_YC|xy{eR>&M(>Ao^oD4Po(^4=FXit(>I#B)i
z#e3xmZ}^TPuf@Lv)H1Yx9N!oD)31hGDGJ^|Ww-nc1|^U%^w8}){`TE+6%?gSDFG#r
z5aZaiIfFeP)DgKK3)jPu0ghLYmZZ9Q87$zT8QQoCYoQkG?IKYlErV6w-W*L1_MuP$
z3D}SMEMsmeD{kz9UDcIZ=oO^lUKk$}Gt*d`bLQB4`(6b~AhGLnTU5EzD5cp?!+uoT
z*<tMHCR_64(JplByo3s9DBVE!2>WWoMm9yQjZLWQ{_&jX*{VNNSLWkEQxhnZz@0c~
zo8LK$nzPBv8j>pRja6s^?)*Vol3K?+SHFb!CT16|Be*9B30RUO#r4e~<44UzD`zwi
zPVa;+X-{LG)=}mZHk6y&MbHWz?Mp^iN!r{egH-4}8%2FBr-K<Uxcd$>Q+&<&o#$d|
zg`jsgiYUwuK?0T}N$G<#$l-R=QF^UI+0YYME~NRY=)xHCDJT?Ib>6In1k{Qj98Blr
z?o)a^isJ1tXHpXJy*(8-J>P;tEx5xk66g2DkTmigm;Ydfp#%~x11r=12^zZj<aTaj
zN12AC(_{ydJnNJSwcwcmk+APyfdo!#PxjW=Vkm(`r*A3B#zBcRy8K>lBk#^kRIdMM
zf>#W|aPJqkzep^IABvX@P9#e^yQq+WTF@Rpd2Q;30=w;&)3U^K8L-~UT??kCtIX3a
zv^30?zKzTF=`s7KeEWU|gAz!P?``RTw{uGghgy-OS%fwI5@yM6#J8Z2M%C5T82?o6
zUK~XGcB`wKd+wPGbMKNA;xU>m)_G#5nVu??KzoMYInDe_=3V^6VDsH5v*%tkyLvjy
zz8*-QHc)kj^H7jZ@(!Z!?#(IryCg+=Xh?+<<*|QgLk1;~fF4Rx<JMNheDpJvnI6fU
zY=WuDin_Wfo1VxpCP+&Xd3+fk{O=iB=`c_@^#VOy$^xl%y@#b<Jz4P%FZH^Hdbsxz
zY`}8G$ak+wC+#wFP|^GudRW%xy@51)>3yAH#}(3&6n<wUS$(Vp?yFA_Y8Mi451Qw9
zuUL}G2k+zj!e(T*-kKisGR}6e|BdXK6^*+6uq5}ong71H{eiA5&&l%h)K_bft}Q3x
z3}1h8cd-?<Uu0L3V}%4PNs@jk)$q1f8q#f~J26>pO*hrE)AfojM(y)#=%zXjCHYH{
z*wrFY{W?KI%C)XfZiQJ>_cqf?vZs(1iO|09a24HeoMNL92&lDVeFZvX*R;}XZJp~D
zr2M`dobIC`Py&f#7p$nd^tdjpBqJ<^*CtES$KhA4{0WpmLaZyb;Vb=)b*q(PevT~f
zWh5Qj>wA{rPTz5OBrWddUUJumBOgDPu?rEUx+&h3)qu<_6Gfj}`{*VlIm))~QFPao
z2D+>&^<<GK-h)U;4O86nU;_drkZ7<gijoEIc~-!QU*`v<fh2FG5gtA65)Nq<NpH`w
z$vzrwC%+#MNy`>J(ghaS{bOTO&H!>?rxBhNbQwb%koa#>B>kPROJ~yAp4&iUU+GtE
z_!BvdwszS_`l5E^{}FlpCY{N%yzOYCX?a#NAc~G$`93T1xr+?z4ceBZweLES-BY%s
zRs%%>YTb*BqBobn&w4o0g?n|wp)>h#ZaW%Wt2~1eNQiY+Sfp26Ot&i=_?QTN|9yg=
zz@0Js|A^z~L%q_&WV^D76R=!JyzCx9&BvW8o%QVt$f4sG-d1i*O&18L#ZM&B)wLg%
z64AQrbn?*K%7*D80ky;#fZx$%a&~w+4nE>U4O(sL{3#3GokimEnPhVLdm6@BPQvME
zNJ9_#6AC8~d3@NN45)fcn3q5;LoK+?{8MlI<iJ)}vTHvf37Hr4&=aTy_YEb<{u&~8
zb?(GwT!IWGkbvzZN&O2a;>VH6<YL-*1rkt;uW@LTIqoHUlYEwuv>$7Z4I>rq+|oe_
zBn*98S9%3Yl5y%P{H{fJdHTGO!ih%uqywE?zOHT_U&Zs)J?;96l-|{zrnwNgy(f7+
zc7+P(S8%t_xq2j>`Vg0{=$)g}S;+cLC{VM3!m{8U8Q!TSse(^3nS8b;idZsHg%W5F
zdMHU%D>Wjs&pDIx+MOztKtlBDKDvqd8kp2*Y^7ZEm*~I=OO%N8N_fGqUy7^4Ql;F|
z8n|K152en7WhJ?OehztLCY_X@PkpYZ5h%IHwf5crqXkQnr1hs3(Jmhz(lh!r0ws{}
zwkTE(*7~!bz%!6~3)R}si!~hFltBV&wRSI7;%)yDUz%4Sk;kLRtgDw4zwSSjMGu#i
z_zvT+x%g8#J${LjG{lat{D+uYvCB0h$=V|(c;Ch^a)R%lXk&kVlphuUp{so=kM3?+
zrYybZ%84i2B<1t3405@5P&Sl6V#l$!@@`J|Zfmd+Y^2i{6lajt`L_iEYRQ^Mas^Jj
zzEGbNwO_B*OMLIyZlaSO+JIWeuUwX!|5~Q(FEV&_+jE`%Ft<^Tr3nPoy5IbO%zi9W
z?9&@@qK4USeE=tH4z3pnsI}z6EV<skWl9w@Ehh>lr|6$>!tUc7J(NJguGa!N<ohxu
zri&LR@-{o@eRv#^LuLvD)SC04lf3-vGUawmGfrIB+|734#PZnH0s*y(Q;g*CpO-0h
zhc@TL{fg7F=X0-y7TpjCsI~oU9qqu6%aqPzeL2x;M84+t>kQJoYPJI7fLgW-f9W4)
zFIA#OU`}+KtM&WvB7;<4cUgfFNNk<oLErxUUmL@F&(`*MlR?(jKPV7T%dBAq#pmtc
zIF2-}EcYwQAoF@<3k1{(&FrH@zW!TRUegxIO>Sq9PQP9Y1k`G(TdE8%`r9588kf_z
z`<X$W-f<HMsAZ9ST?u)`y*lpABk%KO#$lcwBOz9u{GbF9N9JWKUtj#~SEF|%XBmhW
zidG<?)-BhY%Ax0f`)){ciWheoOa=ty(um9#%Jye}u7jDiz9^XgHe5yGRclvx9Jl4f
zMVE>cN+1!?@rP2L({1?J#m~@hsz_poN072xPAiarT5!aWq!j_1_0iumNcy6dGTaA*
zqXfJ*c`jVnNN0$=(hA}SBZM)*I+P^4Z^Llk<)g_R#g{?}B%rsvw+FN#Mki{MNe`Y1
zaljD{j+Oj8^_?TijaM1u=ef&%Fb=qP3uEGS)q!Q7dD5P|>uF2i?4IvI)4)mYy6<C(
zQMD~iXyTY-x>q)aJ;=a|M)Gb)4`Me@76_;X=hr+Vd?His_IoWJ`gH_ZFwcr!p1ez+
zX(VCYd@I`7X}*5gfZyoboF?>K{3-p|c*7p#z1!i)xxfwwPEI9I0*M_9tZ2LZ(Rw3q
zgI66N>_z!I&&ggN(**)*iCztV-H@b&zd}9YG{QOx5(#{@wAA%rwtu`~9W^(+26_0b
z5vrQiP9UHbTwn2L!(TQ*<CWLAr&n)&PS}bXHE~qVS2V_SwiUJR@J?^BU&1gxNwOT6
zDL+hFhqpW$A;bZR9&@Z{txJV^hq;Ejitx^qe@Cywo1cpW)Pl9ncNG0=;6{Nj@ou|b
zWDfUgz%56mT{UC8yU>-|J{zhi{3QD~{&$Z7PRjX)hW*-D%T&4gu9{@_`?ds1AhA<t
zMcb?oRorb&IiY>B8Ex5OMz$n(7UF;etPx2nI#Cl3>-_>RYu!tzD@Z_ZB}rd6fVzE0
zr1=jwa+3FkWmz4Sm77e3INA)hqHlEF724FWNAKk|j;^lXf@EgbBTxcu_;$3SpIiOi
z)elA!=;CI<q%h8rKnWzQf-UH?>VHosq=XNkCkheCui{Ri7W7c8tK+w0sotVLDY{)C
z_zursi8hXzEl0hwdJvZS4MPbe#4}zEkLS|?{%Pb;@fmc@wODc6mZ@y|VkMjq6UUNK
zT7FuQ&#7x?>=m>iEuIQHWjzExYMx9+J$j2^S#aJ4X})i;L(4j5`XP&K4{~*Fb9xMa
z%9`2iCz>(bmkxFRlofsQ$3G(jBbC$x_ftu}NjkE<uBG4dK4z_d`wjVzmubQIk6Ae`
z-_RodT7`ly9d*%94X1Y;{VS>4II+(%U64THb1O`X*L}=Nula=&?_2ayE&8XBwmtbf
zCV=GiZcL+=e#|nQ@eyqd{Ct`AT$@0;e_D&-IA|C}=S^_Y`6L!2!|z)czGabShOwl1
z*O%(Thpn)&(p`ugjs^`*c+on0KV{v@_{E7gRXebp%Kstr>6HnTKmyw4S?9J%>NtL8
zdt>Bd3<;?9*u#rI)9@*)`BsCCh{N-!9T`k!6dc7+0tqpWtn*s-w307sw9JFRR)cK=
zJ>+LU%*wH8J$mDHzr%%*0TN>EJ`XrepYIq>9LSdcRl9%hQLv`@Q}Gv4$@7>SXqeY~
z1W#$D1Q0ano`o)S-3P>56P(!EVONzul{pdbUDkpubn`(6y{0I+wkE=98u28@ox$ED
zvS9}PRLz}08}Nh(EJ>2i4YMNEYSqEvN;rXY(K<<W<e=$#CAdNWUO(3a<wTuSo>5Q3
zxO*%MO*|ApjvnVHk$@JY;T)BpDsEAMSZeIa5nD?F%Yw5PNb~IAw_fD2$3omb;24Hl
zke;)$7IF<frObJ1cp`k%i6+Et)hxU>%$;<q5rZ6hx@7-1;-?&F)fH`bf2&J3laS%}
za-)yBjTRE`S07Eih})ht)VOu?|3wUHZ=G${NJ1{0sMp0gyOxiE*w(>|w5;YuTD|hd
zqq$^Gk*vFT>6dKy-LJ5%u5EC!3~lo>6ULsz^nw{F^YSZ(5=eCC^yaHebuFBJ^W0K6
zCvy1dop)zM0%{q4f6vX<8R-qg>Qha~+RPbv(V_nx`QK;_k^hZJlGypC<YuTBu{SkV
zZ-#e8PqusN+Ub7@z8gGTSIbIwJMt&D;lgXTz-0!$cFCPU>#%lVeEeQJ*A2(DYorcd
zKU%0=Xb;w*BrR`n9pC8C3%mF1&F*T#kY>_jUDS<(XzA~^=t5)X>~%hWetTrvX5YmJ
zd3*E^drZw|tWw(-CXm5V?NBdsPu<`r2hn~`Oo_rebnhU7B}r29!ZUd7*ly(9+wCfp
zK*I3*`k;!s=hY8!8z}rOE<Y)jc)N_I{}O+-41`~brS7_HAZ()#VY0g}>1^c943f}w
z*L16+{&-d6MYe9^pntvkZ_ssIX-yBT#{KWe|3+&l>28fTx=o>m$cq!N<MB7UWA{-a
z0kxoQKHs%If=4Z#k2~havdtaZq3EDY-MXowCkEoLhkUm$^9(*Qq8mYWJ5+;Y)#^dI
z?OXoDF?n)?uJuWgmZa&^&)}IUG34H*O)9hjX;_DR_w~UVe4&~>*;T1IgDnWP4D?@n
zJl8kLods=6!ds4eGk7||aPFXN>4^js5s6fOYN4ox;jBT5{ZKYJ)(fX5Y*L{F659qx
zqVe8EI<M&l;?eyftaX7Oo_Kkq3MG)ZI)p!QsClM4Iom)C<EPu-^zVwjyRT581QOy2
zh^6V1)g#|cNXEww3=&YwT!}=cO)_;;at*ogxSl>NH{Swx^=(3+7Tl>8iE=jvvXB6C
zTqpD_h7w4?(--`CwTCIP@lXw^+`ln{1k`f#j6%L@Q(eWAj@+y8#q}8-swE3L_s38I
z3B&0NbIsqA9E+;*du{Vjl6iZsKtQe4K2hkCtGCYNuE9pqXgjvUE0CCM3c^qV33y(E
zKaqQ~4fbCWOOBq*Qy~Ghg7i@+<gTSI!oskd(Wq-HHQsU?ZR0vdI49G+W>>T_GgPtd
z<0gye0MgzJXOV&1@$z2D2=3lPEx6k+N%i}VCS#r@;`%c`D!VpyL#sTjbct0w<$3>g
zM>|5Q>i4a#ExT^`^Y@1r8gs9@_2M(|+<o}&w#h1#K*GeO8~W~IrE5~haMCGO)0lJ!
zy^6<8t;wJS66(9IXs(l$ZmD|%PWbn3Oxm`-ikEk*$)E%hYu|T4M`~E<$VS6ioYqE1
z@t9uQ@WPbt3`!so=-dT$wXxFG_BXU(L;X7(=4elz8QU>KFF97)e++Ho=k}+aA<c8)
zRo~-RE$zu5eO(46kPut2GWnps9z9R3)uSVWlH8%4Q2n=-x)3)9p{Ds0xyX^82tSTi
ztV<VcK%(xgP6&Up)Qzj*z~eZnainJ>j-%!O5KybQOEmga){6IC!&N)p<|w|_e;c+)
z>@L`VT4G%ltHm;IWQ84vrZL0l)3E8Eamg@BOfMaAV2w!9i%CZ4(_<^Vp??~KBOIhf
zVr51v+~@fLyrxlH$>{U9T*Ecrx^%=5i5uPj!#Km3bWCm|!~qG|vOJSYAL00By@<|O
zi*-Ixbk%x0T?KwU8+H`mm+nCZdq&Z?<_@}YC1c5H-51>3G=}`Nam7#q3AmdnN$os#
zp=Aq$$+2(;1_`L;q(su63Db4mN=DIMaWSO#va)!_+#eWf!96yS2<}mrd|YjeXC}8K
zPyz{Y*V1)RO`P`OD{dGa!yo~*%rhftN`phXYHo&JQhnlfyuf8Up7J=BK?x)byQID^
z|Lm*sb28=IkQR>*%M)wY5qA4#M?}(h10Aw0Yud?hS5}e+_szs<ZN2f;atRDdAaQSS
zB(0wEu=GBdkefhq&oAVsCTppXfLfwgl{KS@TQxg;rf+}>C6Fk2%TY!_>78@isDb2i
z%1s>AuZ|uPPz%-wpSPFWi|drBg8a;eGn(C$MzebK?Ym4Fo|);XTF`P=yVBjS{^PYf
zE%B~gcb9~ooz7tJqzgPJ^Zt5>#vf0m^NROzqV3T7Y^}E$iI=U|*H>Ms)9-g#<9r&(
z`uAO^w(9$=j(i+EH?BLaFzr(I1G_q$xM0>uwIAwA_CD9Jo6BS9)$C@v-E}-=i+(XQ
zr&j}=ac$3kh=5*=)eS>jNu`?_2FrrPnN8j3_}A~U40j1hdOfr!dp7?e&VCx9LIP?X
z_3B0se0`TSCCP9%D13E9{ryTNuS2Z`8;0xgVd?c~xNbiF&o$_O=CDdU@8fWjNCu;I
zaqdFPxW3PNLLC2zqhQxz^^D_vyvH(9umOq8F46Rg_I*}Xo}stD>r$UJXl6!MM~Jlx
zV-n+7U+_SFU|AMF*_Xy(S^IN4(K9{YXRR&k@Q+ttj}*vnQp)1*yVC@(AQ3yY6FuJl
zebz8*!`S|$7r`CQ4WK<LjTH!}1?!EkKlnEClh!H3>2Z4%N+5CNYZSdS^L>`$Z8%|C
z;fD#%<xf<#3a%;;P^*WYKP@}|eb%3O39fxtzgSxln+{B4@JfYsWw^SI|Ibxx6`HH>
z^1=rHic4cq0tv&_Wk2rkHF(}nQrn=Dcv6Kp1|^UXufZk(l3KaNNqoaHP8hEsVHo-9
zj`%z7W`0Xk8;`OjXP*U^jER3GkPv&~7^yZ}kDHL%J<j4qYpiK}@CwBu)(MAO+S1KW
z6y?!+Hw^bI`1@qex--Y`AMnV56$z9;BK?@E<jdJghh`d{H3(n1PaQqoj|{I>T_B*A
zn9JBvce~m@`8*Ez-jzTJB>Ekys_d_HN%`-yKeuslUkjQxScmI{4HXEe1@kC;7Vefq
z->gn2jpiq4VdQWp2Iev)X=tM*v|O7EGBwLyh7y>2g(dMfY}B4Y&qrjC6Gak&<w7l3
zhm!R2!0K#w-<o)2l{5l#Z!nW4?q;MOoUgVIOeCQPEDV{g|H)JS4j}Z|jE`AO*L?UV
zXPN$Z0$mfCLAIG#3KB>JOe3_TU2#_b4IlVQ_>p@%W+b=89dA|?GIuE<GR?cuK{-9}
z7lIjYel`j>U`IWVpiU!+K*0PSr1?s?O$+9-CKETkUWq`-f3q9XqJ>m>+rGSzBj@Ap
zz2EqHzwRV>M+@|&T1)h<v88U_ryL<0VOZDxe_4Y?j%noHlZ(hnd4OO>5N7dUNs`p%
z@)+{2w>@s0^INb13Am2t=NYP}k$$7z(Q8{&6ri+5JsY@Whc~*2ewPnJKbyK_zmGg5
zc*sZU<>?GxwU&?QbA;>%wDGHT07|iT$(D~8+GFgpw#0s64YDD8pHLRmg0}fCS@lN5
zY(p_Fd{SO`MiJ&I#VqHJ)H<Yjg&M?ju8BZQzwe5cG|W<-l&gRtElD-Yb|b@iMr~k`
z4~BU|NWeU!BrUGtK?YUU68Bt&pac?dH&c>+-@k;9bfD^o#+`_<^(^^p?Iv_|KvN8_
zZMT-swR<X5rRyrnd}QeN%Y<~8yi#>~(M}*>mJ`yF^tdR6q=j_HwM+)cEh=<F>z%E1
z^%AxV>l(PS<WJ;wA3-cGZ^Z4I87VMB2WR)NB>rB5{msbwkfvng&^baz5Ne6p!Iyi|
z$XFjqHCY&hJT66}FLj>jeR#&yw^KCQ`N&u?{D$jjo`*X&mUKJitv*}rD@bxuJ0i7W
zcg2uz&8i)Rw1s0!Xh|}2_aejM%hK5O%?ZrPLVGYies|7KBRhRQ(@L!{f)YrGUM=Tw
z<Pb@%xH3ra9eO1a-|oec!~L?*!(ONGujd_*?)zfpsCQWu6wv|2*sM^dRxv|0c7>s^
zcUel4;nw{6m}r(xqBT8ew?l=31QOfi4yenx6-u$rj1vy#>E!Oo9<-mmNI<P!=h~xB
zmscrQ>sxXnk`p&C_Mj_mL;`BP+1nn4c37=kduSlCyi!S+##OC-6{D7SBT%~KEamk!
zBcW}?_L#wKG*Noc;blY{`=i^Vu6ApcVRNm~XVe}w-o930F*e*rQ-@^YQ|E$G^m~$e
z=U02w-E^JO*sZcq3nFp4d^%aqZRoV34d^?x$4>}7XiL^_2*+1<RwS@JU>o#o8IEE%
zE>XT;DZ{<GQDZdG9vP!PYWP%!kwY!9%^U4cBduP%p+O##g!+L5v?odV8ObC&FI_E~
zKSYSu!l(_xV<sy1Ew-ZbTLRId*|(G}WoK}&+OHZx9$j0lJ{YwO8E*+i`)<xt>_-km
zU8UBj?cs4s+3TBxlK459Uuk6eq)*h%suF^=3u)1-*W-E;%jsY7YW}WFD1kPhhx}>4
z(XGkyBwxIzLN)fLY&*1fOD!eW=n%46)e6m7(pm}oz859twnFun`zuva_VG9}#<eDA
zqI_}Xav}k>-o&>?`Nv!pXZ?OobePhb9CY`^3C1D;wLGV{M(=~1l<D6M#L1nJq{3Zu
zvfrz^3jLj17=p^ZO;8#f*?~N6hoBqhhbdiG?c~I{WPiN(=Lj;n<#-IE^>A;6W_1~-
zv^cj3!IC8D%E3so;i@_5X(ZZ!M0~kcXj!Ke#r^nJZez}YNHXb~IoV|+5>V^>ix4z>
z=tyO=(+*DDI2=hfUos~al1M-;7!%JrN6BQz!1?-J{XE#ERc(-M^^f{pe3t~aO?#;g
zYWBF267%E$x3R2?Ose_K(mVC?U{C^y|K7Jor_5}XKKBfSG@&(d3HQa(WvVeKfrQu|
z;|H3v0h^r2lQrcTtoPh1t<V(bzRDxA>z~>kHo%<OY<41z*Oq6n-XZZ|P%HE^Gg29v
zxrcl8^h0A-ww)!(uKZDGbEpM9<T>O$LF~?XBQoOIc@;_^5gOMDbxMm=)-5*J_|c^W
zdk||x77sip5Ks&DeBO8O)+I}=y=kjqt%UXnSk@LzoIUA(wGH1T`%;HAb!<v2)N3v5
zc|i{$ElK~a`i>{$^;6C@?I{pY3+|XnlIva@^~sM&)ix)YHJDHxS@vy5_o8hwd>Ty5
zQy<K3!p?mDr8oEX6ZTkOZV~Pw@cpROVd~5uJL&xkDMI!f65=TOU3F3C<zw8qIGI6D
zpog0#Cd!@*CQuVULr&(!qG7btr@`o!Lk5Eqn8kr5@l}!KTg5@Hh^<4@7|icL0+z)0
zAXnd^iB~e|`usEo{e^MBnG;`499gS)_L;2SsFlptI=4VwDwUz<8%~g6jlz=n^9GZT
z(;Z}hy1Vgc!3HGY9s<u_y<Do0Q{&ajOOqMYg7#p&@i%5o%an6gn97<D8A9aa3r^@+
z{1m#b%sv@r!X(Lh#t?0pH$imPfeZ$-XE3WK5_?X(lACtOk$YUqV6a?Bi^PbGCU`oD
zQ&G!A2A`sXHeg1Nzm;pjCe)^QCr!iR6ACbE0J9>JWHD|F{{HF<9r1FQV8eJ)d-{98
zaixEiw*NepGIU5+^-24(?CXyRA#xa#?SswAslqhsJDl>K_{yU?3)mP+Ha@S4(mRIH
z43`gC0TZ{PRoM~rA$y-S)p9awcs+_v>EoE4yUuVwKfsAWoVfU+svv<xk0#M{0ePRb
z>Zd0sH1k@qw3BtosyPk<0kvw*=ti^KJ7#aWXP8-ba<0!J`?nwiZ%>t>1QIt-MN?<5
z_gPT^wK(ygQ99FCsYpA{{)lS%x2B^V`sm9wxQO5y7p{u=TUA`@v+#Z`$i!z;Wmp!>
zKtkJm7Vey+_8mT&6x`Y@cm)YV#<NH4pB$+qogbQ{K8+tu>gI_A)PfmSzS9sjmc1S0
zj9*<miz-LAp(7`M$U56c5!wdE$M=LUjbTq0d*Yy-7lp`SYl<z{wo@9rwWksuof0j?
z0X>1elE3K|r!tQdmGR8%Y{3SsQRppyuR-8F{z|g`WZ%ffLL86~vmbkvY<zm1r`p9c
zPRNDB-VU!cKGWBoQns%(Q421lF{lN7hdUemL}TMPR_-oRS1E^8NUWdMjovNPDz8q*
z{F8g#u)9#b`-wmIx+ILiEEmj?ee0zvk8SJH`-2SU^v}Jkf^I(fPkpd#xIn=5vbYj1
zF!N>4^Ovh8e)a^G3v+#<jT(Iem|fISb+B!D0ws``vY<R&?^&Lfb9Uig{kq<h9d>(#
zBO<B@8AzB_gR~^AvFggIFOkTDwCX~h5)v?L#4{|v`m;?YJ@Lg9RXEWIb5<hJaP&pB
zre%RzYnoWQFs6%nCd$=;GM!i1hsQB#bTmoYeL@|2jtbcim}iJ<{7^nL#fuJKWQcsh
zf;#NfbZ1s{wh+H5|4Ola)`%K;)yF$tZB}NT45sd%T`;uA*B|%asJa4gcA%zMyO0pQ
zdeT<QnqM|%oz0&LHek78du$w>Lem#LSGNcEA+Tq_J|@~|*KxOMUM7ke)i1<Q0==?-
zRiK}~D4b67@Zgc3F7HnARy<Q1-L6Vtoxr++*&Rtb);I^7bZO0g4|##1B;C(j_Fdhc
zejM5mdjzeN_iqTHTf-Z08zU~4#alAmnZK1*hy!{EOX9ow%gk|SSATYLj+2lnf&{e3
zzfckW9j|jI>_ov6!8(jdv@xf1Gc=`2H+J!Z34wJ2%Z2tNsq*+yr0LN4YNCE8G7t4a
zTV1~@t|k|RwJe;^^C!dFC6nLLlhg^FrfT7=2(CZjtVWW8EHX&%+1u!%3ulBZ7tH9u
zlKArmmwJ)7XCKsY%nO~p>x>RPtw(FWS&iPVs)N>lM|4N4Zb-DTXGdSM@%24*sm%?v
z<E<m=*WjyC{zq9n$i@cc%xOp$R{JKz$9LiqdlQ}nP-CiP2@*&^+mf_v-EiVmX1!YT
zhB1aYM3{|)w)sh?%A?4rvGY{D_Ksi!W;S6-{C?goojg7>gqGEx64rn)3k);2{5x1F
z>Ex8|g8to$0t7R(P%8#xiunjvDV_KXTT9nnK7ybG63`ycWmHdN1u5^4;|7&N0&2kw
zG~a!VO(Yd^r>SAj&k2#kz65JQl3I=#Lv~d1RlknABCIXpI!Yuuofu1u`&3b@CKezl
zfdq_+uO@o%oXoxD>hNn15Uh9DYVa!H&&2Vss$6foUA-_`D`ab6u1D;NivkCcZ?RX@
zQ$r>SR}m~%>{s^6KoZ#hx;o!2Rv@63Xk%mSJuJ8D&rID`$(l1)<RxiC=$2pI5L^kp
zp72HXz1^Swa5%*0yIo#S!A0G^tJ-@}!U_^<L7HcseazUi>Cx<9)tU&d2jD#V;lU@$
zy)wP%^1-Y4T=eaR`f9IMsVr+zPipdeljimBfwXFvF}~wTl-A+B>3UZSJnBUoW!}Ob
zw4me+z15E0=<&-`W}`R3aEyZVd>el`>uww^+vp9qu`XdPY8Rfy@_K(oPy&e)yYFgk
zH;<y1?_A_WQ|rb!wBA_Oe77DQnCvO%9Z93fiL(V-B;4j?;Ws0OvTRK|p+;d%2R&RZ
zuj@O4n)O-EZ9KR=4X<j--)_`22|)?8C)V!4_+<M1P&)e<w*kR*?XPR6^=G^Duf)WT
zLvZ!N-!rkpjb=YeXA_FI2?X>V(tK=hHk0~9rnBiE^$1EJ0qc#go%?*JS0d9`omMLm
zY$=CHSCuibG4$ZWJoKsM0%btOeso-+!XsZcWv06K(kRxg|7`?&Lts)5W$3kZns5~V
zL)Z?=P)YkFHtywp!7J#AXyai!M?51wm0f-wA+!gqU08>FHE~Rf;(w&G;|VK;x`G6(
z1%3)Ccb$6aV**P)u~moz_I4N(&t>$ERm(0I%~q{vLWD35Scm-GRH;}^(T`zA+pHDZ
z7PgIO!-=oF&YO&8`)Cq^p1__V5__(VQ@uQs*s(VSf>%%r+T+iXEqNtx=$gR}ADl#?
zzwoMs?ay<_+IsB3=@zWo!uBXD!G@Z8gwgu5y9uKN><j$<u|lhE9yFHqecKelvY?jO
z<|}>;V^!9yR2x)r!*B)(=j!5|`skB^%q8`l>g!>Ie@&`PpDuEs_xL;MAuSSZ@}n5a
zwqji+83muNPi+^t(3^u+BbdK{@$rnXUvE~f(@XVY-GgZ4XfOJ%?-%8)=>>s?w)r{z
zi$mD9FskMxZIByGYE381&*k4yutsnd2JP{8!qL&}yY(=&OHmC3*JqG`CGqsGlEH=r
zI#bW;;%XbN2VqHkC+=lBW6M|3-(jK1jfK<GMsCXJsWXHug_r{<dY#DXU!AOeHa;Rm
z4r>(V93&}i=pc5&@2vXG<by!K`hm10tr|Cw9nHJ0o*6h!s8Lwcr*i^ny#=|-rE-Rx
zOzNa0wk&pnYO(wvf)YrGUWM))%?3^DtJ==rED%r&)(GF{<eA4)b&KfcnEgUsK|;(-
zBn{^8CtA6Ro(<R_5Kv3ZOk@`iU>%O%R4*Kj7J47-l`ua3C9@TAOgH7c+WWmM5Kv3(
zC4rh0wwFgfFS`|j5=e-V&l#G+ezlEN_csd^2&g6YE8}hHY=@(sHfyC7`Yt5Ier2I_
zXOFEut92$@3M)u>)xsXbM^Te*WJR1QTf0&(!&wnr8;F@y{81(~x;A93hBZY{0*Q*n
zWl+eS&UDe9ZoFT4YZ{S|ep<FR?zapjaJB?X;%{5{S(Wtd9mb5a{SlleKmwK|Nn?7H
zLA%?eu_woEFkGv_`v;s8@fos@BR#f1jd?L+47DH)M{S-XYrRih`*H}oefPUC?m{iN
zj+UgW<0h--MI%{!Z98G!25pGMz;`aJ<0^k9TaOg(25@ZGwl<}oj)u}7>kPYnn{PU>
z3jKmvQNaoXC6Iu32}$}|HH@|0SB-7r-<*UaG8{SK9F?!5zGUJ@-$t+x))Kbcx=Vg=
zr5n9C;v0gic(HcV8l~Zz#>q^x_@FRPg!4H#<K(%ey{qxv3M1ILHRpxdBqX41{%*sa
zOYniNBN&=vgkf1wOY~}dZX`jSE3mkAYmn}<IhwUTgkD{|Usx5x6)V3-9kJlw1Bha0
z#@t1)Tw~?F+;M1k8pHQ!FKzlNUz`<0KeaKu>;B~l2ePY1Fsont5Q19Jo=DhF2q01W
zo!GBIXN9sLA$s*r6F`3Tbz)V~Gl76wFs~s=8<ty;q>)i<UdB6tfLbs<Nm|sR3@P%7
zW@Q?SZ4L?8{*vUpu_G&JWx<B+*o)vO1IOLhA!TUeA`NY%G1Qfji4zO%AHbr=y%nw~
zm|+u%sqNj_<ef6>HtLu_KrMI`@NZhoZO2RwS7%k%E)%W~NI(xIX;wV{X0eqGtGb;(
ze+vACUcvbI9?OO*tawi-vpiT9!)py*+mPnpwXEBYB@d~=;!n*Nu5;+S=vCa$Skh}t
zq3ScZ7KSTqm@k2CBS}ZCdy$^ki`4$tYy<*o!5+i&3=L#r(!-tg9-J>^hv3>-9CxeM
zYfsixugcPDI3Os21nkHB?XAX+WLt7DYc^)OKtL^c-SDSOpH(Gy<S@4WUV=bCEqIsU
ztGlg_vHY<QTRUQvaQ}b=99Q@~YD@v1I;tO=Rq>#(=7fZJeT<d(+nMvfs1rTMXWt8U
zMRkVd$~M}s^4-V=XxPI$@}Qqj<$>qC(Un1aOa9KkQW@5Qb&j@TrxtBdp#&1k4!fc2
zCvM6ydc(IfZ@n6?hOJI!cQRu1ODeb^i<x<{;ft`4I9<*Kp$U2N$)<+yxPQvBXI{fw
zGN*a-D3m~=&C>?REQNoq($7FxjPJm_yH#QI(o+RWAOYj!UkAQCh~3P;tcEr;LGE7y
zQPZSIIU(bbJSS8}MVc9MAu>i{95FPGO<H<ZwfCMRNFcGXz#Da$u(yQfCkJc>kX0df
zam1@c1(pT1U>)-FiCucCal`wwqVh*^?G$_d&4&X1ZMzpTq@O=_K*!JLm;9a2eS&+c
z1BUcx<?0^APy&fzt?D5o`@h8b6>I#iy=%@+S@5%WKmrL^Z+xerc%s^(Q!?8SZ>jiH
zt6x&qzb#m4o)aqUbhp$i_xlsoja`#j%RR;ll)!Rr&0SE}*?FZz?YC)ahBTV7Lp`)m
z0twiABx$s1w%_^}&6#IqF9N-SF+rL?%`q^My>o7$T2&va!d8RrzpT5AoTp5e7itY(
zEWE{uovsbkc-x^Wlt5zR5E=ElI!$irXCNxZv|tO;ZTz<Q*JsP)WK`YCPGfkRzd>uW
z{dC#z8`At;Vb}9jfAbFN<g>llyqyu~{2CkW)Fn6N?;j&k+Vn!r<K{QzcMl`cE_s1w
zdy?Vnr(a|4szJ{})xs9B3~E6-|8pd=TKH14x%y2`bRTt0$vH5DjoL-knU^Ec-c!}I
zYn$fCYl|b%jbqic7aQlukmhfEk1=Lr+rCg8muUpAAo1u|B>Med8Euu7hHq_^Tam9W
zuhc<(e^ZPDYKdOiPVbOybmOOT{C);mbbglp-QhsAYs_PL<l57U>){5-RxOlg_CF`5
zH*-NAUkzi)nDoJT)uHCBu2%zM?>11$a`i)o>jM%g2b(KLtWn9|`MHcq2)+F=TV1v@
zkw6I~zL8A*qs;;6&v&YiE?kH|wi?Ll?_Z%p2_&GmeAd^z4sQK9o>lI8NFbnAVf0-6
z7JWdeSI@6>Qau{<V>5f7RiOkDV&pC(%4_fB-lLl2bOH&eRez3)woXW3sg1|-Ri$eA
zP}N93hCm4<#y;MoH9GHKO5FW?Mag>IP93O>Ay5Jd<GD3uZ~i`uKXo;1P#JYGd9BX3
z??s>l5;jkg<fFd6r8YLytj9u*%52iRerm<mb<wgG4`su<YT@W()!hyq7;s<y^DWad
zj`i4_ESWX4>90ZwB>s+-f4(znlX?I<%^z0sK7A<pzX(I`;aAj``mDBNAZyd>EV?tk
zJi2(TJaXk<JN<2I!k^W)M*n)q-yt;0k4^7Yn~j;fL4^dg(NL<5(9~xo@$skP55^K7
zWf)~yZ`AmQk@Wn|g(cVXlsAzyH1nw@W6e$3<6<b?-ab@j`wd@q=u$hCRPOkR`syVW
zN+7Z9QY2kiTwQyUU(GyoH@b<^bzXq7_Dcqv@Hzm!DLN&S_(EaCfgbYHhHJ|z-Zy6J
zJ@{9^Apy0rhtxzvMm0i)l6bDKO}KXH<!1UphHvGvol4-{c(i*|p>Pcz%5kP{c6HF#
zUIwC*c~9;9jT7`WIRPc`ih3OHM6VyXA)E8Bob!`48@2L+F-dy)he$xJ-~)lQ=~O1~
z^fnL^-dB*9?26Ua;c-9-Bw!u#Ib7IFIr(if<pqBiE0jQDkh?#fw(h<5<OhR|E+3ZZ
zL$~+QKj2>hhxG${yI5CIU1saA_qn96#tEo3&ys4U)*Oe{?I@H*;*{}y&4o^m`UAYK
zVEw?FhBRM)<W|&lt~Dq7!#@Png0>~eG?%aJv|shfqa4|QCy}Vqy4aGQSoV1&f10vx
z$?usK;Ye3h<R>K-@W@?%_F=CQwAA>(Qx!^b2ZW(rS-x_}gM0tnKi>KbV2P97D+dDd
z1Onb=Y@#C2&7XBN{XX5|Hs&9x#rDSBr#1XqGbn+?%iR&k$i1%ScYg!nv!NC{Kk7d1
z)4nx>5=cC-h(zC`>uQ$YGTb?vT<A=$_dbiB_Af`E1QIYl{<Y1P&g^kesyf8kmq7_6
z#Jlt2J;ChJ@p_8+I!A$kTCmpnH^Vj!CK2Q~KHBt^7S1N%JOR!h_;^+Km>ePxWxmFG
zobFZ!JuJUe9=N*#o^JY8zLGdaezc}M9y;r*{MmVm{O8MykG8m}32`l1u~}^bwIEGj
ze33WQohskb8NSt6ZGWV?waWzMz_2k4wlnk!ju?{E+qgFEuwVvt)?~1so3_i3&&8q6
z6YdK=9QH~{Dx0rYbGmpl<DIpISw{GqNaSnnuC3SZsto5Ve0`qAbFY=ls$EzJf?oZy
z<zH>t)lC~y<+S{8R0Nvesin5l*Gs(3XS7IXUAEk#pYAwNNI)&vn*2K7P>v1T=ge$t
zSqNT1qDQ?*w8+<AyK#=eM&U=TT6a|l>x60u1k|d1KN8iB!P=C82I6O#<!amqnY~|L
zQy`!gtOcIS$Vy|EqRdpoS7N*qBhXf<leX8JF7n^shR6?Z<8Rf;$&l@}e%!{=1=ZNl
zg1W5RDia1Jkbw2Zcd+=0%vve0=|JClLRnA?)*(OpF*TW0&3Z{4+y-H2V_L%q)M3>T
zzoWBU<xOr8D6yZhw%J`D?p5dcX>25w)Ucqw2ohJOM4;T4?pnztK)#g_fwZY@wC+RN
zaYB=k%G9q*X>mqXoZd46z3w+(WB5`mEEn42rwxy%vF%<aYKHc=P}bkb4fO_X^RwrV
z64|+<FX)Cd<Ape&4d|gH#mvoMvx}O@d9UNqt&S1sNM0RH71O3N^icGw$pUwBU|S<n
zZr&ml5>P9Rf3>I5ojMxx$KE{hLo|_$u{%hIH<*V1A6;i1S4Gf0{0k~5B?<<Ljf#MP
z375MwBUq$LNGd2IsHh+Y4F(`$f-QEp2qxU!u@yV9yTv3#6!o1op686u@BNGW;hgWB
zsokA96UT_fecf|qp@SR^$ZpaAQG2bGF!-d6aIuq@sK~9QTKlVZSFiD*><&T60q?|6
z0>5w%)4fDPv(BnTnvTrIken2P%WjG`FPv2{T}Z%`*b{YZ99h|RkF?vXA<m2T5_9w2
zRGQ=6xzUT`H81hpEYDv(l&vmlcA|CDTTsi{_b{{$ZNQY+ejoD`5?@#$#`k+&1huYD
zX0_1FPt}3-cHYKaWuf@F#RTc~{#a7^z+1FfM1DPMPuhEnMO__L50+l!a>&lz)n#XX
zg6c^g!?Q(5Kzobdd$aonELHOZuCTiL8J0kt@ndoI+wKw^c|k2mv;8Grog}ZPVbZ6U
zlgVM0_s#wKt4?WL;&K9W$W9NqrVtbKTy)*_Tn!0Wa^A-G6@-4fqf5h6k4SJ_0>{_<
zShV-V4%BF}Bi;OZEjRLp<6VBt@L@p*T7Qru&Gy=epac?`mtG24eN55sal8Jiy7Y0h
z9}VudLxcp>YFp=|5a`b0YO)ysyDfB0T`ENR(bGM70%{$-eNY${Z~2FK<8xUWd2=)k
z+)=55HlP-*o*{J8w);bTd~-%}>KaKWHSf-q18VUz7MDduIH22jD!+H(ob&H*xwLSk
z#@al71zuG@njTi!Vkm(`@{4SB(a`RH>dLL}W2}EOjP9SkM}!2_D%dZnH~V(_Q;wW|
zk8xp180|8bC!ki~ofGQS*E;^OF=(qHIrhYpF4qt_8&E56Ww|>2K$Aa2bdVM4VymRd
zyG^-rK&{P0A<j71;7_h5Sac?{*4t6nT9zCEwcz-gy-NmJk`E2->2XCb3?-0=S!y75
z53c<uSC2FMk&x<^)aLFh5fV@<Q)(_oJbC$N=4CRgAF0cT6Zd%nYQ6JqEjAu??+>v<
zKaf;v{FI(g=paEGP^-sIYw_vu9e;=ecpQngqtdQ}9T6m;mPd-MSmeL{4-rPj5z>uH
z_T@YQwHmr8#j9h+{UPQgjUzFoo228<5m#4Gi=VONmBbO{h-m4H_GcB8Kw^{!5^FuR
z_+#T0Bd&%-OGEN1IRa{BloPR$)(_S1r*_K66td~nVbR}zZxOTswZdjPiT5Id9e%$V
zf-O@>LFZ)koUvsH5>U%xwv(82sm&k4(#M9hYtxOsu^c3w?A1_AAEQK{d+iY5tO(95
z6^hr7?1&WAM!lnHSK9c6x2QcW{MWn&&b;}z=$YHyiQkJSMRz;*pqF2<cqLofIZR^y
zHc0ctW}{AIRdgru!#hIYmlJ-e{aHK>^F3`Hs=~Un@5l8q-SM}tZd9YnhzwY7B9iFE
zLcN{__@m<wb>O@VVGN6yZq@pSx~%g|VcoCz=hjcv!fwMc^mCm{oED^iocW<Pv&j%*
zGvsmmg+r62dNbmvx38wqGr}8Pw(h7@u(&cqM|q<O^DUICs%-_muHLAHclTfaXK}+<
zx1_^Do$0NJ@d!#F0mmq8yxUiY*nMbDw6_~mNI<QnN4!wa*g1b}><QN))hbhR#KD+C
z2_#x4c%d%4cKjhaCtbsb%G=`Ob4OArfy6OSFI2a|qd!EzvTL}`*|xaVtdSH-AaS^z
z7ur&;?;zI*yT@x^5`9I#iJPZiL61gzq4c%)l|!C(6W}Ne(ro5c>O-xk>CkIUe<CQ^
zb<GPIk(tUh-MR@dCAJS>u@Sv#<w-yKWvO0F^hS@HwNMsx>MB42ro{HDz4|D9y*G?H
zcit&N0&2mwVLQpgCP~7FG4$e+^%9&rYvuiSz6@utELuUXBdw~XkeWo8Q8@1}edUc_
z7(G-b9l0s+gz(&vhMjvPW}PylP)q*Z{{1~=`O$xg2(2FUMZjsv)}#qH6NZHRd+PB_
zrOsM;Mt`Q&T5<W)XtHnBR?cexwH%_oQQKWJm8IupB0R%}j&trvXA2vpsM_9WOWaK5
zKo;fH`lT0onSqoIb?*LCj@$PqNtsW^&^h_*C0IYuAHbK~`D20<(Rv7Z?Eajy0k!yC
zt$q<pH9HIu%Vxz(7t#iyIesma2{um!ICp|HTj$JLFOi?l;{5S36cQ|g3(`5?TAAbU
zf}@%L%1B9bqw3P+W{)`=FkM&+Y?W-uS(FmFOnk4MLSeezEH18B;7n!S$7lc8m@&&+
zx?6jyx_e9lg<8-D0L#SMW6wxBCB;a*8t_>9=+p<<imjC9$6pGc@ApPWkG4`?4}Q&g
zBiW9W{VnO4{_Vu+xz2R^=RWAczE;XJn_mc!hV~SS?fq=&l^^CJ@>6mI)PlKXXRsEm
zlQJW7#R#()8h?PrMYd_Fe4zJEkYgcF@@%6#9QppATs7Y1PnG@Kh!a0+Q<!&1LwjuW
zI?KLjYxq&|!JQNe)0HDP8+x}<zW*N^rj2h)z6HC)qU+%lrgb1&Kx2yUD&+{>a1BYJ
z5c~C#!eSH>8WB&S7NiRg2&l~X$S;~b=Mx>Jn|&2h2j6%KC6H*SfzYn;nabZ$r_U-y
z(J)<K(u+=_Pyz|>XoSWj_4`ANNspv4#;s9<t*0d@fkaU~jJ%`UD0}q(#GcwK-@4N^
zR_oPo*<Yv?)rg?4Bibl0+I$drBD;Q?WItoQIDhICj)1ibX?B{!IFZ&l)?aELwy-Cx
ztF|oWd1TkSN;!f#U%P$kCDH~voqu^)pydA|e#bwz_q3$5=cGwZ2X-YVm+7E3c@LFy
zStPtO)_Umcl6A_ovLDEQf)1)^(857ASiX%tV#sAF=fP5Tif1T+5=aEx?2HUwSE`&|
z$x#<(j=m@!@Cc<Z55LAQ_Uoh7vs){bQ+XTPC+ndrxh<7H17#bEz6q$AVJJCZ_g;b$
zXk)``Jyd^BhVsxknV4>?kVNKBv}uxut2*kTHg7YOEw}wZPz%!R?w!0&)NkQu(byJo
zCGWCa2bE+z_@7!}xw2w=GP-0*-$S|(m=+`&Z`MIG8Xr~uj;S}fzY!hd-I|`<qs0+W
zt5c#bvh<j#tUW<4$BwZPlE#eD^sxROt{l)FPZVA&D7q7fq|=KM$+$(f$YD#dvZ3)$
z1ls`83WcNoc8615gQ$J6G22!3-}W#aZiUXzw^UlC@@=C~Y<bv9b-$$>ZF0FeR}M%(
z+w6Q)!>8(Hy9}s*ln<FTN(b%t*Am_~*1#}Vd*XD^?84T<g06DhjDa(ziGDLX(Aviw
z36wyhR#sb7kupwrcU6lKDMR{54Ug;6SH*)k0&4YM#QO9G58-#D4gY}6MfXisNvAeV
zBpX?-y7aCsSn2V(g1Keq=%Y6k1;1D+8Smx^jWIgNZ~hb2$n6TQOl+n4%Z8%4T~|q0
z)=eZZ?~ph%P6ycyj#ce(l;g1|x2!JG4p}AbUBMGjYruFN6q6pP5~}20QdDrRXt@4L
zDdsXyK&{b?C~xJZ5+BP%@&1>hw)bVxpiVNEE2ssZW`)9kVYpcT9HwWCEJ%wq9b~WY
z6uNoV#;`_VO|yt0-A0Pr9%I_CrW1)}CCo1zEIec}Mxd4#tGB`tzQT^Za^#b(D@Teo
zC72dyTM#ILMC1NC=v3iQ;dfM$D|NoA*Cn`9i|Zx?N+4m?MF;J03KotKIgZKEJGDi(
zL^pb-Wpe^0kl5I&E}|xpf_Xo=UlpiEh{KHt)jHjYKrL7%SR>5WXZuR6-NKs=T5U*z
ztu;}{uSvqH>)IHm3sX`kE)D1}=H3gX3rb75`hlw%FeP@ou|prxpgfeuuPMb)0ttS_
z<Z(q1@?MopFIgzC`IRa`N4-#(@<X3nZ*hE7C7f|zCj6MzP;QUunkZN!nzjqu%V|NH
zUt{r2Ngz79C&df*9B@V<MvhA>?Bg{)qXyFnVpk2SzG;3%_1!R<w64P5%Sw(I((YXZ
z(L8D_%~*a8L#^?*R4Dpxh5e(-YLt^JAe-U}d-;ST+xPl1g4iB2mdx^b0&4L#-YqJ}
z9xqR;DlLYSf$zJbpk0;r{ZhW8$%pOGN}<v|ylV}YL$*WcrvtHaEEj7mtq9B&Bvvl6
zM?K9e?L&*cv0R;e>p)t4EfZfl@&wd^Wny;%c3p+8G#*2bC7;9coAc_dul9z*57cT{
zSJuNT?Hg|Tj`+9ezJiy?D>ItT8@q`kpq89c7j*|^P@MdnE5aWm^Se=WR>?N}uh!pp
zJ5R8gIu2Pdn0~oag<(!$y}^{&H_DQbp$&qiQI)N^FAgMN9kO^{$)dDx(>U6)Rzno7
z>4Sy_c2~|G)mB*8!3RwZ>!>VIv=iXmki{lnD@rTYjH6c*4Y^q=B(%2pAg_gG_N!XT
zH>GzN=|%lQ^Q0LAUrC|P-l$UFz#)>weT`%ugi|?>m8N%F{bOTWf)_1+zej2k@JfQ#
zAyG2J8?`yML)p<=z9H5$+#dg&H<o-`zY{ytp=is2b;{cDMgp`4Q)0K{H+2^42D?f-
zHY8B!%lQBK9N2EEUS(3fBuu-fev-`Wd{D-!GW$;VJ93^7-p1!<m6F~KFZ$_JE=NGE
zELR`&I=9Te`3N~u?3LD)(!(QO^qj>?2}&Tr*KS@v9Xj)4bNX_NF@brPJt4+_d?b)&
zr|80UXb+Vs-Ka7qPyz|)6;UX5CS8+kKev^#=8ohDs3m(vh8q6$mn>d!O)4#JE3L}p
z38=;UOK#zKx^wR+>EpZYYB=wM>%jcF+WAfsshGM(dUF3Bx8eqg^t$$FYwlN}#wmr>
zu3fEAsxo~qRlZIap#&2Ao{6{X2GCkoji|?&qX-gEtM<NHC~&b0%Dy4r9j$3?M%htL
z8nVq(f?9CZnkT%|pGoHy_|x+v7h@=agmCnSs@{eaG^uJ2vk@7aCiT2HfnL!aC_xD%
z{#gz8_s5;;O{QV{T_xz*oE9@x9aJzG?O0eK@PvcMQIvZ!krtY@#83hWXj`FplGl*j
z>h4AtUKqq~GWqZB9q3hsv_jFj!D#YHx+d+{Zm)(rYqY$3i#^s+;q~320`Gfu*%wH(
ziZp2Hg0~1tAOY>MHDRX&qG#YIjhmUmt&BmhDx?*Pr9<M#+In%!JJDGUy|PdX=9cX#
zdX+*(6{y9!!Za2E-AP<=<E2veU^`uP61V1@P|7>npf{Su24wd@mUzsN;_`AONI)&#
zPhB`xpOjtKlq?>2QTvEK;?zqvO5?bfLWX`{QKy!z^3$>x|Jr!-32pgVA$AW+qA=a&
zw!OtDv_vWIPpg>QTkLRo;IH3oN8{KJXy>U4anZ;m3bh~&%f!wPvR#vR(>IGfd&E(g
z6FH)MQ<rYa)6BO7X@%m{Juh-?w~1u&U6&?*=`B9oX`@u1d?mm#@x+PR!^z<mCenqH
zml7nP7GDl^$wl;mM2c2ye+JBn9KYBpK3h5X-Lrpk72Uy2_<VJ*I=wWNt1C#rzQCgP
zqz)kq&HIZ&oCaN%Hb|V5X{*d*emJ9-UgD+?gMN7jd1AVhO3!IE5tn|x$n`5|gZa+H
zob2EArcjvgS&xq$%~NmK5yRPl>GH(Lj^%j#?Ybza^>FG_+gnswXaDk9wqkLkcSU6X
z@@zty?X0<$NWRu95YK#S&Fut)<$x)%ec>rFB=5yG(P!Ff39e?qbmjj)%Xy=`cU#^Y
zRclrZ8Kl2mbm;Y)_$&FB*nIC4+gu|1UN1gsPeML6Q=P1F`n6*6R{{xGCiYG|XiF-$
zW{bVN?FsX2i^2k1r8Dz|_if`X?tME**_EwLz-OMt6W$xgW~asCBZHw5Tua$L+Dp7W
z;H9$JlWzYIr3oc?rfrHC|2l%^uw4j3*#hO6uH6J^kGC<WTN$30G)vs~bQp!{LYgOR
zKlQ?&vVBCAVInbY<t3&sZu@IR0czdz^b!Z?y#BK`VQJ!s&#&<joeUBQlt5zWNG~y9
z)yY4E)3D}f;{j9g^4e4aC6Mqu?j?S!xAYG|hBrqNBQ7xlN+9vKrhl)0e4dy>E?s&g
zvXQR>O8zfGZW}gtK05<%4T=4=8V-rSzhy0_QQl%<E&L}}6=u_MoZBQi(725xOD6x3
z=&te-Q+upY?kI2jtNlB&_Wzx$qIT?_;ypd+rxChHPWP__5_0(t{HNrH+f5<I7SELO
zOO}XG3$~41>r?CfZI2$zMyI?U^nIu<f@wiou65)8w8z5sQ^<*onbNhlOGGGv1aCue
zW+TqL5ly$}-VxUgVE6yu)Kl*G+CfN*_Yt*B8YqK8%mhfYh_~Z*;*`$Obk6Jz909fN
zJNt;QOZ1dqgXFPj?~W^R?Su)m@hB|`N+1DiU7^T(HycM4`qAyv-r+AR>Wj;ES^n}H
z_VuVQI!&1S%kSsM{@-}RHl<FvJS&RPzKxE44yM<)R^sk=4aK*Goqu^CA<Yw!JDQVw
zFQ!U6#9m|$i)`yZp!F~RC)7fszL-?={FkSY-P!NkjEtVHD;>u!1WF)roDqua&;Ae_
za+;I350a!t>>MGKK*GIPUp#iHSQ+H>Yj(HUkUU$jK?fY|Kw{S#h^A-f{_-0_El9K2
zXARcko*`azL}@vO1k{4{#%_o4HKIn&wo>9&cXDK^QcTU&Rn8gpjm<;sMeS@|rElRk
zH2<ruh&t?7EgC2LcTJuil9Fu3(TKITkZx!%u~yV|<z<5}i1`CVbX!*``vW%AMq=}m
zy2>SQ<v64DUk##`epSN$<3^kfnC^Hgh)<5{D*ao?K7iX^x^&R}OlfzH8-Wr?K-(<V
z*2hOu<2`=#;^H+J5>SiJRgbUpq<K%%CC7}hM9l6krVZCsuCw`$#=q$*mU`$amqva6
zr{vqF&X?L;NS7K;9!p?OATdd@7SEgNDwj8qThMF6N~x7WhV;mL3`amMHa{2RmYXZ(
zc+xC3N1PF@uC$T9E^;TZ4PXwTZT1~>ZFT5_r@vHVpFm(*a?kHJxZ|&Md4hQdC6hN!
z^y`jy7)l@kpBuJ<WsoHuepH{9S~+v&fLgGRvHQZG&sMuJ-;(vay%?_j!`%V_20zrE
z*M57c*nO6sCF*kqDRi3lXEd_@5A~3)zx`B@<_V{)WhhoVl&1K<<7~83)e$$2OA@4e
z+L+&K@X%#2I@UjouC;l=5o`B#5SM)l624uijUmlu^r4aB>a<>TdsA})C6Kt;Qcn!_
ziWK%F$^OK}&wGoFTc~Kfvo(QQ@uLjHX1?x1E1TLl@|(VRQ){Ro4U~PB9=$C^qeU+C
zN^}d3fLgo_tw1BvL^PCU+YTVG-r>7zHH#ts@j#%e&j8u$+(~JJUU}I_q2CgT7mKld
za*U{&-B`i3{}UF0{Pgx%)rKiDareG8`lPmzYE>l?D1kkOxAB~<P=(mc6(^iXAy5Jd
zm|NE76CDw~`cS(2b|jappDd2|i0CJ(!<+dWDik)pj>uAcD0MFz$@N4?>|*7JG^#CR
zC^cB^UYeJI{35?e>X2ZLfLgGf*qEWZ7Vgmef#m8E#<d3|+!yMLPad=pGTO+i86UPR
zP>;J|N_RNBas<?Z?ayw&)E|ZIy7-fBF<&tB%0mC{5%p(5BloYj_MJmTkq$eTai^`e
z3Q8cc^YUk*_|P)Jb(smv)vSgZq^GARee5w$>bJdGJ;8pNa67OSPSLMYKl`y<2z6_P
z*MCY=m#UWvB|nvnSm<wsJdUQ4{z7jxlt7|>`Wtm`M!!FA#)$XJYh#Up$)x1j3=tAg
zYf1AG^|<fLg@U)87%_T~K0eSciQXu<!4XiaV0xk2vSzu^I>nk1!#@)=V^}I36ywbi
zP^)bFGIjFT<-(8v`6kcsPtS#~>r(0QGY%X9wYtTQP+$JCT(~`?2P4iNT_t!iA~W8D
zBcRry`UdK^pO*_Q$J;TY#|2NJ$B<M?2h8ILs5QFvprUIP%LTtgdq&h!P7`JxPNnN}
zx^e{6N_S`^O!rzY1m4Ds_~NKK+=HDd`fAos4JD9x?a)$HRQA`#rk>hGSv9G2-YYYX
zfLb0)G=%jZ|CXa}-RVUkjBu4&aRk&d{^2XkdjGes)|EP_?LV{Ho#Vq1P)lRL2SHPN
zxzKcpja-g#sp@@CQ)!sic{P+kB6NI?aQE%s7CdG%SY6HTjea;RoFkytyT1Db>(aly
zWT!e<y_n@{mPQATfLdA)F9~m7|Luv{t&Xcr-=)%PH~JO9TtO}PbSV@Yo3^7Tu5}|O
zlh#X60*O@TXF?-p<M;D%9S;`2tx2UTPE1fk$)U?1g-Ne|KZ7tO_N_fxt?u_Ym3FPL
zD}oY8jMu3YFr&49J?9yFHHoQLA9B9UX>J_{YVmJ|-DlRRy8TQgrdwVdhHnP=1gC%a
zuHMYv7{6^C&P~Usnog#BjlYXf0txt~W_KZV_ePhurc&pOElMbX-*%W1i#=eo96M4g
z+Iqhg{oHu~>gIKg-M+LRy=F0rF7%tHY?k@^x2~J0GzyR-5YM^s8f!HhLG3d#MOPhn
zba-gFJw^x6yn4TX7djk3FeQbe>dYZLZNmt<w`{%yC6EZz{!I^3%8``cG~0qIuAh`T
zcZsBz2D+o12Q8GU$NSMmmMe=;OJ&KO{r}iFarP*#cpXNYUYx|)fP`G8;pte}=Ac}T
zyR77?tmIGj{cp+tYQb7y#8NfZ&<>;80htoaZyJk;A=iT1{@;>!=wFS~W`@vsKPteI
zLjsnM`4iRoxY9dLx^O7sf7;`38_2n`oLSdly^~xHvvc`4|5L2AM*Y9UUoDwv{jjBj
z93z75rW%%ud*z1Fa?9<wf8#);X;fyvG^9q@el-Zuszb_o<9-Oa4Fk~}_J5CXISTkR
zWi_6)CWKC{vMhoUNVpFUL@C=_D6gFT&IonXJUs4WYx?z-lE|^bovzMS=34y}<On{F
z;{ufh$9{13*uJF^oAKUVL#f}kV;H6ji88%FwD3qrrShI^V+XS_<b7*;>J4uL(sI0_
zSE;9ztEzr7q9Xh#_U{lX*>njfQ1UNv_{w9YLp?e2`<uw4SpUaxX?54%#9zt3#J)$*
zmG-})%hS}m*g$wF7<G>LW#g{|60ZXSQGi=5A@03gjyEN#L{p)oUUN$i$+`MVKrQ+I
z#rs=2{EkPTcDn?ZFB?hso7cy${<NU>kQ%|F>F?G|@Znoip(vliPAHc+(OQ?=6POc7
zbQ{KU)vv~Wr@!3h`OmN8^5Y}v?ZJ(?UIOjGloSd}RbQ0S;J#F|Fr2{N0JZoQtf(16
zG<&R+p1!_-EzdSbU0R$F#-C`1eJX2&sV2vSj~?Cd&=>X5<3+25^-DUiuUh$=9^}$s
zecEimLrww-_+4Rle?IZXZ3a)1_E$|H@O!SYZnE&|)={DN6O4uIQstzHMS|ITM`mMK
zqmOt&bPIagwJm|^ay0j?ZLC#+7q~T~Luy-c1hfHZcE4ysGFd!hnfU2RnLLaC&#L}s
zH-c`=s<01OU;fYfd37x_;%&NJoEXuY+g}1#j`=lVlhX>)@!>V;4RYcLsCCD%GtxMC
zNGOex_k}P0qD^L`Uy`g6Fh@WwewW4cri1YKpaeQ8sgKx~-GVm$-6#7;EM{qAAqZJ~
z`D7m!+DU-xxU4-^<w(6JMM>N4jiXRfKFu4|X(cL$JZ>eZCwZd=C6AQSHaW)ni#0it
z@8R*1!7HACT3cD<_dCTc9oGGd{62l|XsI%W-Jn$3o%+}ELHQlAvQe$J!lq;1DBEP7
zvSnH8e{$uvc(gQQtR+=^>dxf~5+U>1O&Hz<%8t$CmFjENkBc-0#nJf6ILR@{AF(K>
z_8s$E3;Ab#(cNKX_Aw9swIR%XR5aQ%jygY#lVHgqaWBmmxkr@Qw|XJlNa^V)%{=E!
z$MtK%<qB%0clSZ(H7u3rsvK|op1-c7G@3+F$t(#<AknPM2l>w_vyV2CBa`0xY%QI0
zjHL@>`*Q@;Li>Esf$TDSm$x$Eac!a)YA}haXD;OkSkth4EcV&4`)FNAGL3&JiLhrl
zRj?TAKR($vH#YyLJ+x2VN4bp1crJ-BEl6Dc5`gj>mDv|gYsYdmxO6f)-XNK-5cRp*
zg<5v)0?_<UW%k+za$RLVnT+xo;dz87pcZUdMjRe3-E+32*XsA++5`3s*pJy-YIG;*
z^UOH<@jw>|)*@W{mv>y8{If@c?cUiriMIVPL^3_;F3CN7<c;6Yft>D>mcO45e$T|Y
zh&ST3mTl?VPrWIWKmz8FMTt4&Pr6L9mb^?f2qd5u+)=>xet5T|hJm(pUY9&>CkG_t
zXT{^s)5UJ`v}sG1Rd%66-|pfFs0DYburqNQ*7V+ED=N;*k)Q+;av$sT=V@m5@80Nw
zs`s-q?rRTn1k~bdH>;>bouv~)*V%2Bpac@|xnchHWhLrrM)dB%6Hp7bEW69%W=Fa;
z?V#k_)`DvfdDlzxKl@~0%d&evE_9?5pB|JP8(L5(fdt$Eqfp$8e<yZ%?JIT7jN=HX
z#lI6@bjrqKXb)W3YXX51NWdpezSrQM<UiR_IAj#T^>)}Z_?;Zh6-T8&6Gzf|WjzX4
zFj)PFn)mdS^7{j>Iw%x}`^S^O1slbq4Fe@8fvZb!g+`&6yge6RIAwx0*{X@n?H1zF
z_kB=e)D{8m7Jw`K?EJaTa<z?OQDH^}i&q5pNfd8W*}K(bpoA8C1%3xaL}IDr|2UMY
zgNJiIcIeq&>Q2P+hq_8RmM!x}NiAsB>L96&h7;$F+OynF>@+7<ICocr^ZT*!Rj;Ph
zG&xYR8QYKZkwF65V<)}c_lxn{Q>dHmK=kxUUGZ7>HG<vT&YV{j&JEd)Ms!0Q*xrub
zcwozoec*U!=lLjg{keyPMh=9H0I11JvGMlabbMx8j(}RcjRq?!q;c0wsd?8n1WF(Q
zbIYFd$?QDQAwQ|^I)Ol~D%0=kgr;|dVXwMip13+cjCxM)i`Kb3=OmD5ZrWUQO*tXV
zscOf{alK@rIACNF5o4O+aqqlEt=Airx8hrIy-#oNVDS*%t9&0~!oCK+SN!n@96{^V
zrCd*heb+q7S2X*mr)=><{yJ;C9E`mOjio_@Hc2oo*pGSQk!1_Acvj=W$qij8)PgkZ
z`D`8MiicEFcwUT(ji-UDhKMy2s#H2nO@!^Q0>qvs`pOI5?SxYEp<?xn4CTiQ@-96g
z)=nC?A&y4RZ!JLyBzk=g6z8|sR~EN5XT-+Ic2a*vJYU2UQ0tp2NIYY%uWUP9J`-1R
zX_Qo}G>#Uf2Z>O^Mu1`mYkj3W0))2NJuG#4(Ye%|mQN2tQ1bA`5Yc`7Xyut!U4)Q^
zL&e4BOO=n?$T9D6tzPu>QFFR#22Vh(4F92GM-!^NVkQ&XHSdKM6C>%~s526*_c<lL
zVs(X{vgO0p0<39vLzB;Y!89h4+DtyfwIC!W)b|(TYUwK%Pm|mH_<lp0xw4+LJ#Y|(
zX+bU6PHbIm?0)Ia`A6c9qH$acLc+aMfEZ|~uRLNSk4q}X?3e5rF;vYHPz$!^uilPW
zZ>LgBGp_H#o)2@&qTQ_jfi2Dqr5VcvbdtR%T5l@1-@WM+f*u{{v0$E}k}2f&mT;++
zb$tvaa5e!`VsE(j$)tGFY;i)zyPOS3!1<0sF?&)9nV&fi;SIac`xS0z`-K@Q*=Mm~
ztt+}Sz5LhjvYb9>^7OHS)7$gxy<0x|32uVi1<NHPDfDtc8s=7^IEa#n$4+a!vg^kp
zD1iiT<4xcU!C5<mCfj|JmUeMPR!!1{qRLIE{7ZkdGdWslwRQ)pF6)nqzs3lw8_E$q
zjV6y0j{OLxJ%)ahpcbSH8#|+MUBZOoz}<}K*=@3LQxQVXczu(g1QKJ~Iit~K!NQBQ
zJ&eftIF@=%o+lM0&XAx45~D{sBdsIe!pS*uT+0TZ*j*Nro}<?K6A&yRtlhSCTv2z8
zhC=0hIR>Z?Bdmu!M^){30&0z#>4IjjZZCAICljCDMv#_sN+sNLtxBoof~<0;3UbWa
zxl0G2i^3wI;q}P~=1`%~_X#CoE8j_4QNz$;78mticB0VW{#FEOo(MVHk2oG~MN5qK
ziI9L=PapP2!%7l_wm#cfu5weOg^sLt{d~VkPyz|Q1+RTfCL=PRqaC#-AXviZqg+sj
zVHQHns{*bL*%=c?n5v(%2r<!|1QJ<-3(|9D@2bP{jn-AqQplJ~gHfnz6-PiVm_vmE
zRg9(nVe_Q?i8HvK2#K0!&d6md5#EiK<M0}M8B1FYo+ssv;t8mw%Ob2E-{>v4&X;@1
zy0PQviI6$cTl?vp4XDNUtCXs-H2KsK=~%9b=w4?Ks=2>bkmEZ)tnfzN66Xso-0E@d
z&rXK9h2vT^aWr!M1df2c<mSSGsCwI4VN?ermMi-)u4HqjDIK-%s~Som5q`rRc?@14
z+zpRnL{3#d(&>9^+P>#rHS9}J3(~BYM26B8wMEIiRSv$8=ZR+T$rfVrYoSAFUTC%R
zY{8<HCRZl5A&T9{(c5=})Z1YlhNT_p;fWR}FBKlKNYf7kJW<@hMZ#;p+ALQSLPP0p
z3sG9zAqT^BPqAA)jg7K|_g6Lkv9ZlPlulpwPAZ8BN3eEpn+!tvS5^!2zv})&octL>
zXSI%&TAugCNo{?Q-Qq++j>Hagc*oZp;n!(G`cm1;xvthk8dDV|IqvhtPy&g@p3M7U
znl6wPGLaDxO4l|PCDS%J7)l@k%fvjwjPPqAO6{BEU|1)xrXkHnGL^yfL|%o|yVn~8
zOUu<R=woc((!4rEecc4Lwhbh675?bc0pnjKpY7w1rle~MviB5vRTYZ)0|$_`dKm(p
z)`Wb17=X5<byLZ81^ul&5w|0iY)kBgR-~*Fpagn3+lB|BxhdU+G0)`D(#@5r<j#|U
z=;82P0+c|4pLw-n<!J5D40U1UfO&^GgtpmwtxX~=ZQ4W{`s@dSZ4PUJuicEwK$L$!
zS@K;MOP~Z2yp3JglE|B4Q~YqUKG&C^7Azl&MYruJ&Z{0vo!VbiLGLp36!IlMqp3^6
zKKarK9oemAz#k2@V7;+>&mHv0%g>wfR-rHFd+oMI5>nPQM-4Z2#n2DS_GO&-hU2zL
zI62jYKnWxgcefV?vWP1#83LP4I0x9_ZMIpsOSc$~fLd@)rBHNi8Ayi5Z^d_GFXM|{
z>Y$(DP0{9DGtRROJ>G1W-YyUFbX7w-DX#;D{#K|3*CyF63%d~Fz2&3i6{yFpK|+G}
zo(o=saLWz}^wRt!1k-|Ay!Tvu97wthIU((n@;MvO3k-A1_R!myOLqr^;Boz?P{TcL
zXzTum!pcoy+{q4j0)y4=jl056yHLD%Q9OnH2l^IZN^GPbazPyYA{Vz#j-jpUC{b~a
z2|Cs^TYy@;jdSOBseQ(s7Ove-rH0u=7=1epX{7BFq$UrAdM?qZ-@-frp4m_+3fbML
zW9#eS80Lk9-T~+}fGM$vp3jG)yCL7v&kZ~QwRjsTRwu*`4Zol}?~=HZ!`=>Sfwg&8
z1F1<96QXVGN;ma%S64MmLnWSt0?d`!ZAtyXBMv=zyO+IvbhjH|pT5V{dgGHR^pQZ{
z$?Vk%G1DvzT{GX!h|Lk7g*xrKq1+9r6s84zCp^*Lt_ez>x?H$)n%!Xv(t-rEtx!xH
zx=6TpqF4-J(afM0v<J(?R$q^#(pJs~gxpWf&^bSU(JiC1@a1@Y1ZP`tX30)9y5~tv
zJ)`NOk}*P6b%0pAnZB|_OB1<j28fb@zVf4^3A()|P_$0TQMUIqVPCa6?^EbS(`w;l
zcpkUU^6=b#;>YQoh4MNVQ1WJHQFDNvGJDDyM$Dg9Aq8d*qj4qP909d>PtjewRJ!%J
zz34Y@I%?6=S1f#|r@R+A1Z@lP7Ol?fDSg7zP^XjLV(hvS)wN}EyrMIVusv%p_FFui
zlR#p0)FAQlHa(?XNG>BfNh#Fk^g;V82hVZ@)PiMFC|<FWpAD}TTn+LNlt7}q*i}Rk
zddf5-Ifh#)BbJY;7Mkkw1k{4Hzz+9^Z<nTqPoQI0-&R3S0c;z-1p_i4N$2##sey$J
z=TCqH--0h=DsZ>bVPy7Tq=vo)m@ZF@oES{}tiR(Hg&WmS3;Gs#VuVL8>i6E9>Uw4h
zPyz|rOHuP5Uq=6dy{OGwb2`q8C!iM0Et{()r_#~`6OhOALjvsWFo)1KTMcKuy$S2>
zBOi_tU=N3Vj3*wMr_yN6zT%$XbnZET1m6>TJEhXxlhaUvg%#JYU=Dd3etG?A`}3x>
zPWxJ%pA!1_JXe~FAA_k75^u=9wFMsy>6%Y%=vWtR&XWrFv+#u8t7dfGep7mHkS0e!
zE$CHcr%W9Kse9ueQqQ{`G4vZk0_Ko?4MqpjncpSsw!08pglLH|?V2N#Ic+!^dLtEz
z`%ODbKkFRAw?B^Iyqs{Hpy9NrsIG4hq%%g|tJd^dse^U*^Z3EhF$8MCQ3g+VWoy$r
zQwy-Z)R#c((5re_Z<hMRz^-WRk8aGy!t0x*E-$X)QMUsKlt6;Fq1$LZP8+xo&1f6L
z`LCd#lJ_muI3(kz`&;7=Cnr&;1>e-Xhd#USQoMVs4z_C+LpMeC6D|6D7EY}nEkG?u
zD-_>Sw&CI^eZ2njc#eQyHAu6y)QMBnb-xeAuO9QB)OXW-#dW1~gylC>0<_KIb6)bH
z=kx234HujwD7jJEQ#31Sf%?4MAwYX<By+%(MxTFy3#+c;sVnZNkFM>BPB-kp^%&Sr
zY(Dr(RQo?mAV1o>Vzcj7YLD>)kzJG(&X3j-&LVHr?sF$x{-(D>99t<pnB0oB;H%@`
zalp19(vn?%6Pfu)_|UsMs>y1PONws`%IgEs*J0IY>WplmQ~iFZWWF5PdjDl7(tpYw
zJgMhbZY&DNyKtWa8v%F;q_y-F?^^MJBcMG<vzU6fB$W5XpL9K1hrqnUzQpHB>rIx>
zxo|jHKlBq<T38E^W;4iXd!;M+9z^>@6^4Bm5}F3<)O{B9MW=7c`(8WRCramDyAqve
z1_WwBnzzv`BNU6<%*o>h_5|h^YQg7`MfzLPkpwL;CXrfSxb}cFUsqA@FW}r6^+}b7
zl0XS0cpLjZG^Q&{+mqr`pD`>U>|?M@%)gu6nWn!`kS$H>anCs<_@3x~Z!{S>>m(j-
zSex6614sAz4cefiR3BNT$ZK9pyG9bah~mPw8XN(&;M|A#ujcxZCTaD^UUPTkpVI_Y
z4CsrDBZAP@qb4Z$Q+MPNRe+kSZBVpZGZY;*i`nSEEtK@X`Wk!9-OEWJu|K{m+8kUZ
zl(3kZ?8aW#P}2R~8+^t35P}j&z#K9U{i*;mJVlG#wrPssYy#$x&(#&Lcyj%71om0s
zCBV5eoV~!g2)iTY)<mM$W(77$azN#&2wfgpC79ir#ref}Vno_xLSyIS@wGZ3D1kmJ
zXq%mo?l6fgo4N>3-oKtJIrJey+bma`Cz0FlvT=XErChEc0qwCHHo8wHPj6-6b%T#_
zHlRNl((F`9NirFIs0bC-RdahbApute*s8w8Wb%yJxVh;hX9M;`NVB`V%@fEc)CI3H
zuHihXkl<}pJRd`%lFs6Jr#o=93)`P>^KN#d$?^eL@%ffbI09<%wR>*qDDu_sDt@cT
z<!Toau!pjnZgV4vWsQW}-uQ@MABE-M35)r&P@`4L@uuYyX_bF7lzq+xUANjHz;f_2
z;lsV7#p`aXRN?bdDV&YMnJ`R=?O}O5L2N#2I<7H_<p`+7+dv7srMni<WY5F|1ZSym
zcGssWTRrVUJkr-C?5XY2QNp7Zjw9miQf^KT=g#%!Z5CF~k44v(1u~+*dptJi8%M1A
zE=Eu*V_=975HcP`JC-1xD4pLNw=YN}pKLFol7o*`7d|GS;cs@KHN}rra~nmX!pg4*
z(h9|~(vixi=BXs@{3fLJo;ak=3`OlpLu_|xMB%!e(P)oZHS)YJ6`i;}0<G<8z`i(F
zW-G;M9;xK~sPW<(4_|e?0YlO7Cm+zsm-E!dst}a1qZa0gvU>(<$9}0~l<so$WMWp)
zMdb_>Tq>Z&Kc+c&#wDQXoAz+IRVa4f9gUl1#u3}ie92*%_;L){XfKIl63CHu*SK^u
zT{YEH8z!JnDcJ~?iH&3;`WChDNg-<%yymRKT=B%`J`=?Bo+;$2^A(POTCk=S3hz~;
zMZGO4<g)K>t_>goYn{!u=gpP&^qxe#ir*lZcUaSqX7??rVkP%6apY-!69Gyf!MDfI
zuv=0>mk5%3As4~^>fQglx_D<W8h0)T6*o|;9qx}nhTG-UrA*f=QuU=#<V(Ryj(}Qx
zZ$G{(Qd+LZ`mXXYR}T2B@PygLdtzhL6ymyV1lLQTj|9?eKZD5tsjd`HT5a3M5l{=(
zA&W&fD@U?gIFVc_e2HNFKrKF3J9~_lg0{pGo0m^G0&2lpP$>Fztb@N_P9|<;h5~#h
zpgo?@JJU(h@kk^C>mB9l3id?!+^|t!cwSMIdn$QlvXm=1d_G{ku`xrzUbK5g3YjWQ
zM^FL@_>NI1E*p+SL$s5L)&@gvd=AIHeBWJf^Rv)qY%=wEXDGoDJ=Aixp5agx5{f)#
z$ajSq_4w()2*L;qC6ItAv3M*Oi_oZ}NhD-LZEj2rpF2n^6bo847TtR#lQxeGx%U!G
zmnRmp^R+F6iR8IUEcaG}t@g(MteSocKs&vkv**Kb*nTOmYCI`8HxfY!B;eD<&O1BQ
zq3+&+r2ios1SRl!gnmXA_ti3l;*OR0^4#kP&d)F1)MH`PyQ7(#-y;1ZmSR1Vy6AD;
zt1MUbj*X`M&z;7eH$HI$)Pnv1Hr}O?^z7k7_>EZ;3?<Nm0By6A7PsSR=FPr1#`z-W
zRfFCLw~vB2pLux<X3L}3@#RUhk7Y3$zoZO7E$EZucZHR9jHd~Q!*PC2PXy<(&?hs?
z-$le3w}djs`pm|#R>^d%UlXita+vciL7Ja!pKLIhju02($8Y9yb7V;HHfZ;;bVJSw
zJixO7f^%o61?SPs<Mn7Ly=L?SFWWy56~y%vWBco(gw?Z9-Fy>q!}soJ0-GD~#9o_N
zIyfsD_j~z_t1H+xeC_I(M$yXcyRlGy3qc7aVEeNOl8+N<_%1WNC~6Jo@q+EKSaK6*
z4__vD_{iScQT7S!?!>-$lfxbaC6Iu&6^cg<qUfE7efU^>0!KhCK3C?26X?*F8}QA!
zt2hE`!8&B|ymCY72c1$p<@O4$b|C?4n!QWhlIT=ca-;e~IDb3z2*UEQ9oQ(I8j9g~
ztZieCfLgHq*)z!Y)pjo3fb}*^Mo<C?z8tLk(P<i|aaW!8909fXUa~OMj4pIICN-L6
zLG^D|sC#U3L&0lqqe|my^<h01<QRGvnK!6Whp%@=dG_~M3tAg4Mx}F-uvJ(rO;2tt
zUc73CZr;C#S{NCLtE??i^2Ph8+Nq&9c!vdAc=A3YBBo^Fp~3)MtucY7Z)heC>DdZx
z-EkMScxNO|+h&PEtL`J165EsdIYP?tS|W|0<EX<~4YBcPC)Bs$eKcrDZSjUVL5*JA
zN7hfZ#DM1rH6QhW*_eK>Io-VefP_c(phiSj+<e;(6|Q}NPOYyeE^KXwtXn=n?wfVQ
zs9|<!MY2qM+WHn(KJO`=2nwc9a#G(wbPcyf!5$C(DMvq5kD^tfb@1>j$(#*XT38Fr
z>l{9U-VJ$;r#VERjaOTW-CPBf<ru_0seHe(vGb$u(K@7C#VY|4(38fuU}cE|jXY#c
z8k}myeGT9j0H(ywz9JR1@~|ciolUu1K?2&7zXlEHqD)U>fmd<gDERfcFiTTB;pBnt
zImzoE&%Qm9>Yo`w4A#^j=#$|_HQaY_q_9YO?-N5N_GrNQ`XB*QQYgM2TPS+4{c2lN
zTXJ7#=*xm%YUVGo_La_<#*yltbvPSvj0^3tc*3Otcu$)+GWt>tHwuR%8GbhLEnz#p
zH71%|8?p<%YqwHRwHt<-##eK*EuPp_U54wu8AdJ~9fF3QdL`5>8;Me%1R*%*<mYOq
zm@m<8fi{U14LMH{oY%tnCwm4j1(Q*Ys&M<wXSlgD^!vPMri+C7-O!m1@{K2pKLnGJ
z#+CTB)^h|U&}Ri_;q2yNQxEbZzY)o*(%^i3kbo(%=yfx~@x8EEg2R7sb4yseunyU|
ziLxvl^kpI$@t_`t5=cN#Av>XfG--lnAQ|baf#LWH`ug~Ob@^Bu8kW|FgtouS^>*09
zA<aB@n{4SzY)9M{-$hUY2{_hbH(HDD@N}19q)Sn4t{gD$&}Yqj;UVww%Zg#7&Dfh<
zzk*uZj4liP8;n3NkIOsg+|o?Q;-zk+lARic5=gAmsf`AG^FZ&{$wXVpgfwECPBqxK
z8WK<o_E3eQ?5h>o;vtZ@4gI;k3km2cR4DG~cP8he1mdVspCh0a?D_1@vyql$%X35;
zA8*M$6OiD0yZOB`9Q$|}8KM}+*?><GEFasy>y(doYDAHUpF6pdLjv|U=97_ZNWT{L
zq;T9_1Zxzo0`R^4NwEzHwz4M+Z{Oeus0Hhdo&UJji>!IrfyA`lhoA%!@Cjy5Z7W9-
zr0htBo=)Qks0Hhd#jjn{m!=$UMf@97BiKjbSRM9hcAM3H2l_dkMd2%pM6id$uL1wX
zp_%MHS;2zD2c>WX)Z)K`HGQ(s%Wd_DtC=71j6uk$Npg`<MLvr37=X%ZXBLTD^3hoK
zf3w~biqa3tdpT`y_!hm)6veO?DFjL&;X2wKY5j~Y(voDN=}BwUW!(_sH(Y~4Eog5{
zYj<QKPAgiflAn(kSL_5c3r~7J$B00QOnmT}UUa~#fXksm5$N1m7@Iwwj9+tD`q#!^
z;yODa|82|kqRWZ0ja6o0>I=tHNavTQP{{~)G<^6(m3S;43Aa6v{*FniPZRS|@kE3?
ztfE!FOJ1g1At++P=-KQS7)l@^^>s&g?<K1I%H@(@Nf89BkxCog%SX#sxS+VvtJPif
zjL?^#o@i0iHR>@s2IxqP3o=`<QeC{V1tW%@z(Ro{m2R$8z)2v{=$tb$nYdJ4dBcGb
zK8pscn$=0Ay<g{}mFZ4sSl=XdiL?prZPy3QG@hZJym~3p|LKCv2PLQ%kKD?LHTFR&
z3r0je&gUeMu;|bisVy?p;pgWuqKD-um68!VZ}J4xYI3z7LTPi<PY1>`LUpmXvaEJ0
z^=(qX*??N#pLihczVp<@1Ld8v19s0UjL}P_bw}hOC~^AI4^8boSDmLjnX5O2qF=DL
zu;@n$-8HI!lR#p7q%#W7TBNQs#f{nU&cVWAR=c5^JOQ=%+D&V>TGD^#M1o#6ps)>K
zYi2GQgc{ymrH<Vo&uc9&-x7^yVPbIEoIJcT2#ub&Qhhu~54BafBI5<Q>Rsn`xZJY4
zEQ~E2R<9gJ$8M^Wpbbczob8IdCNEcadQ_L$*y#5JZ}6>8zlU|B$!p!v;6d5y4Kr%<
z>CSRPrVVq{!ZCTrZ=aXh=*=}>a#mZ1D1Zdo8@baHS*9&k*IuW^h>(ls4rf@dZfxXp
z1#|Lhfh%g~y<GkJh@7hxZ<5g2{=T$zXI-wYpcZc<`CFtaq4hv|XF_AH93NQhtHy5G
zYMk{?nG_CfyNb0Irjji`n<3rxE-0YSYC(RY+{SpJiO1Fm`4j7*<~v=`#SyE8i*XHD
zt~##oA<>};q_X;v2qlo{aLWZ*pI;?N^9&df@V2Kk04I<KDbGbHfyC<DE-2{qDq%?M
zFQQ<!6xJt_1m<N+Py&e_&0Nv55i5o8Z@SEeW&TR(O{5=bS@~3g5=e}g=8D!9v%7b2
zJw_~1XGuov4E>~yO(>K=V)lGj6gqObVD&|AkCYo(Qe$5yvNwfAwE_}IOnC2#P9I+)
zY&6woMD7Q3_42OexZG(tg%U`Z@AE`AJr@fJ8|7Y-YScwotdUBVmF9EpvEq(1`s%S%
zuqbih+D4&BZ(=L#Wklxld`<$1E^0=jB|`D5Ud+by!$@#cq>_WS1snmjW~}OuCOn)k
z^c*yj5sg!Pg*rb{NZ1^nfLe(a{g7s>xq=0Iuds6ymer~TbyCUMU_Mt+Yu9rZB)*Fi
zj@Q}Fh>IF+RJR!MCO;oR2_($(`l1shGX-gtyo&7a(pYtg5wVAO0&4B(#Lg9coGwgf
zZ*7I5I=+GGC?m$O?<lmvY1#Hh%T}fen{w7NLeex=-C#r?_N|750%$Fn?SzbeBnr>i
zSAxyYa~evGW=^42H%8-pZzrTTBwk2+v;__P?u_PspCW`D+{&k<D1SO%jGK`}4mmgF
z2xyPDk>1N$xEho|QX>aTH@`Wfv<Fj!9mQLbeSarZ+b&kX=l-?PA-I90lQ@w~nKB2%
zbRluk&Iwu1nIu?zkk>yxDwpHN!4{-k*M`*I=!6<|_Y#7=^0>T@O?5&~y9Ed%rtV?H
z#Ty1vwP7T2Efz6M%eaRVdekIF=)QM5M=KP~?;A)<jUvg<LXpcAB;Iv%Lhss65bo8;
zz2y9>TVl1=aI&b*dyarw5xtyHMiaKr==n}YT%Ye<<m2W|_GTIqSaPUU|D7|M_9;Tx
z&}tVWys~?%y19DOu~~)`N@QZB;b@`Y#m;}qG3%nMpnYW!LG_LQ$HreGILrxsXdWUg
z+ajL~d)S~E-ds*d%_lRCfLeU*Hd438yH7iiiA^m?d-kR_sLL)mX~*}<B}bi5=b7%p
ziW>RMPk7LB?C)bini<#-D1o&ATb7ml%}L~V`x-tfMv%aDy^(cE2jS430yL71KQ~`$
zD6AW@50$(2Mi=V!5LP~uM`ZQCBnji_E`0h_G=UOGG`Q-5u3hLZEWa%iDR<(9=*Bs?
z(0ejxW17?(85*?}?%m_<u~R7><AjpxY~0v?GJ)wr;;vR7)Tviv;kLVcUaimLB`P0`
zv0qjqM?kIJP5Yp%K}JGOuuSCNT%t0yz}RCpPe85lxDRqR)fd<fb4H9wKPdbhychXZ
zr*Jl)mjC8HC~Qxa>QTN-P#YtmtYrzZTEY`h>v$tK)a6>4YGr{;#J67~9WIEXYTJ&u
zXQdlDSTsYmxz0YcxWbKnEvKtucNK8sYZi~CVh7gl=1!xrf<OX}spbC<y*fknQd_ps
zyz_3nGr^4}Z1_$5mHbOQ(n?b`)t8Cc$vg0NKX>}V@;C8U0*MzahZd*PRS%TEY`pJJ
ztZ(g-ns?PAP%DpVEnPWNl@z`Y$-j%1%~biY-wK7r&>eWxaCd6kQ9)o@|I+@kGgY-m
z%EXcJE@ZB-RcfoQL*%snO8zDOYh%;=Ubu8o7%_~!BFV)3^tq}v>-V8HP2JHQGFRoa
zZr?w(TQ#FUu{^w6D$UUPW#cdLuZ@(#xvG;J<y@(v!U<}+L|lF6E|zWlmHbO=?X>Vu
zn;)2KL(IaerL!?QTwTFj$tnG<H}*Zhv9{}(Q+MnYimBw}ba!;3I85cm=9%)Gs^t3b
z-*67c)*#!u9d4J^tlLj^a~+gGLY|B6DjiuQr^HS#dq?dvKE1xM{AVgR=Y(3Lrm?^p
zpZ^j!<_;pFIvfu^UzgM>cSF6jvx<_Z?nCnLrjN3Ux@YYBXU;im${=!7ZxkNH2$-u^
zWp1b(&nq%qwGYX^JJ!oC`msl@T}wkxQs+nrZba)6s0C@+UggWVMaNdi#MZ<?<k6c5
z-0aNnT>X{&OZ?3t`<@5elD)5W$*3dccos{m$Sb|*P^W#!p8fthKC{Sp#J}Z8KhcMz
z`yR#{>u7W3fJ9418^>f8xiDIx7(#4GbqhVRbwfFZIe}WR4i$<T^;O)dUnp5Sam4=+
zGltG6lHUyDnGL;@X+_JlWE)G-HJsBll!QcvaRk(of3LltR<uh`COp0dkv!Y3Xiuyr
zR}R<)a;`4Zg+;&LSDrhs;(WJI5*{#ut1DP0-bS&Nn|O0iU+LYw1Tw05AM|{FL$xD&
zBbRHsqe1K1s1v&GLn@a(sE)C&df7ZVS6_E+6NY{+7Nhc02$Vpgo{<~6HLCniuCg+n
z#Ag~t>QM!$6ly_x(c!MBRM$j(<=6YFTU=`)ETR$Fe19NyUFU=b8+fUo2j`(urHdRJ
zPMsQ&hw|B(@g3uQ)SBJpZ|$hdo7K;>I@9Xq0)Yh7vODI4LhiV!CpFs3h~~QXXp3Jx
zx}(UCKnWyZZrO>$<WM2%Mhns<!-Y;ZbVa&n%+(JQ3Q&t}z0qT3d-dXz1zf$cud}(2
z*rd;CDQZF_foVbF7W<y-Z0N4WW%6^5U$eLZQ%_4<NAd*J8qvQulDhR!C%%!1Pr8lJ
z$yv2%&e$N%2Gn}`o_VwD_EA5(B$xbIP)pn*z=XDF<H8Y83)TqR8)ec+-R`UrEw1fJ
zQdt}1+k2_!hvlLFUrn>!pQksgH`ne=byo@m)+i(vr#PXk<^F2#)$-`|xsA85Ymy5!
zeb<5`pw{)D&ZyUk;c9hbc?=gg!b-e*Cy9=0-V8%e5%dnN@^C^w*Tkz2J=wwt-L}KU
zCZl5Mq134uN+2;BJE5*SV%4TsW#7`ahr`51!(wR*Iu%0+B+4C}Pzz<OI<u}kZlBc9
zNNjr`ie5dLkD&w--))_ce_V|E<r;ZR-FRL@@x<OJTJazsLkT2;t(}m$a)P=*N4^PR
zbG<m!b@y;;Rq%nu)cdal67ec0WNbBBUGrWZg|A#1hOkX2&29P~LkT1nG2&43(dzqU
zGV%IdF2dCz)Zj@4h7w5d?Xm4aJZXI2SK9r34CnDWzKF%XDs8E5+Hn@=J7eeQ_r;UC
z0|TVCttW8=^x{C8)$YPC(t>Hh)NIKS5o&Qhs||zD%&n``Hc_%KW5?Vt()+YvT4Kx-
z3ZS)g7xQb)Sfw5|N1qWx4D+QeI(}5&;Rffwf?CiM#!g7vCXkm~9VO40<6{46Z<I4T
zQ5_^`aQ>@;P;WFoB2680MuXXyYn?!hPC7~}_Z}Ca1eU2;7jNXXB!k@rEE9S*31pz;
zC?#w-E<y<;y6JeMweFefEzL9;v9oa$sSI2y4HrEmD1n6Uc`xL0FiUNBOeSiKqsWBe
zOQprd9uky5;!1Zf)Mxzyb;c0c57(91h#0a|DnIHWK?x+F_lw;vay*_C9P1}-!dJwy
zvw`U5?ed~#XL-LEtV7o3GeXFfXl-ep(?<zP+WYw;BLnoSreR9#-1f{6awAb&3hnw)
zf)Yp+p7cZQ9h>~3*}VqWJxPXVlDPOn0}2VK6_5PU`GYk@a?7&Q{fux7N)n_0A)wab
zu>t6qOY$E=I_^pGE+vT{pYb-J)}oyOXf<{&>h;UUvR;X#&YY&08dZt9KiRnzlqks7
zq5sM-*cT-p5q|xj-OSx3nLJVG;BQCS8ZVGQVx~zTI+S}$wPT{}PmF((MC#8l!AJ8t
zaRk(ABl;n`+@`|sT$vAL``ZmZE0^XjlVE-|cLbn%&s!gqwO}2x)xN=#i2tw$N_Fuv
zu00@;wJiYYeeh8Iw$W}|D$%hxAlz+(xn2UbU=Eqbt78hO_hJQln<<G<0tw#<0jNYT
zN%gx0JD8`CX?s_o*<m~ZwIZ=UdfB+<58=p&-D_7MJent<7GGEEj^yK$S2anTu?vN5
z;A`%MynAK~Z&uVsetKR=$0J8*_ga3UyyxX(<sD6Owi!>Xz3PQ_FUk^HOPc7W$_q7`
zxIp+aLMAp_?ZxgIwMgbbo`71=9@~e^ZmYXl<&Uki(j?fg7LM{p`6x~ByvX-4Hpg+9
zK>SbnW5=L036=vAS9^FP&4dhL#ZUS9IIo;Q3R(u>jBPvtwM@0VQImz4!mZBo+owhQ
zeC+g8lc=otazHIu3+#N<ICttXstB*xRw2P!gg#xETlU`di6idnXk3f!Qm@_76Pcgy
zE3`A6#XV8bKg0GRD|*sRle-Yp>@v>l1pSH72gv3)9}<c7^maIQ<7$q8z7uGhMSYv@
zOTKkJgRfT|<GgCna|3DCg106U;}AD|W}-7kK+hDU6^apUqDWzzNoc73zF#xpzcXGq
z6aJjzhDK@~|1%R_89$V)S@ct_Xs;kp0tr4>M~~;>h?JMY^bXM+0kwD!OD~@@c<kg3
z(yJ#C1g=^JjB-b-$pjU<A>kh%Kp&?wIAX4uG_NLtd>P}8w$?<c{MGpg&b(m`**%a&
zf#@mQ2l=`5JAT#N9cA^HrZRUgK=&QpQN{iwmFL%gZLINsB?(m{=vaGg&N}q_EH!XP
z^SV!06|vPi_8qM2jZT^b(}(ywhSs6hl_u`UENz<VwU129av6;-jTuU#ynkXSfjNXJ
zvGqayRI+lza1>-Wlk*5dt<oF5DDua#L*~I_m<>;ZblhIooN5l}L11a^*{W_)O`^(|
zt&BsOy+x~?Fx!kvv$wV5ydRM8X7s}^i7IPGv%Ss(F5`vw&PiM1yf^}C$-mPo6IE?~
z5dr<r;8)Mhq|B-a0^1q3CZDSw>FKzE*pZH(+JnHf;OaC_*m$Lqx4kC`Ixn(0F9)n2
zo`}w#i&J8!3qduLIWG>JJM%=`%I&C7IUYUQnZnJ_p&uqW!5!`CJEmyuHo2~D+$+Kr
z-t%yH?-3jUwfMaT&ELGjI%aIwmS#4Vy%B$X3ouvwJ^(Z62Tl#?DEeI)O5i*k&Of&<
za6|4ZkN=sU&u-{PzOS@Z8(z~PPyz{PkIfBEhLDx-MvBksRAER!E#5Oxkt<4(;VYyj
z>=pr-E}ZwnIkiIZv}+Pso7Y^b<FkRA>%;j6KR3AB>4tb9*qWxzR1)YZfHPJ&7iD)@
zbWxD{R+#E0KE+T1=QYqC+j({+feb0el4Z*!2wI0_f+;Z%Bu*s}zFkGd&S@M0dm^ki
zh2jG9XwPjom7Qvu&OPUl;J+Um?j@1&=S;AX${NA35B&E1LtIWJCT%CGmX$T*2xx;J
z!}V*LM7|VTO6g{Z8{NTLfTMoqZ+A-}>+a->2_?(9lEc!%dSf@3^+_d;{(j<x(qN8&
zIe|H3Yun#b$fh}2Xt-}A_dSPNutwx~i)=g^s7EZC`jXGF%|*JlHR_&z5jBYW@9&KV
z>xso5o(fAY%lnYa*9231pbGbnEavvj!(HBR2Nb*4z_}NF!%i?;Z`#f6TY`I){@+k_
F0018y<#_-A

literal 0
HcmV?d00001

diff --git a/robots/tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae b/robots/tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae
new file mode 100644
index 0000000..24c4d5e
--- /dev/null
+++ b/robots/tiago_description/meshes/arm/arm_5_collision-wrist-2010.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fri Apr 8 11:36:03 2016</created>
+        <modified>Fri Apr 8 11:36:03 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="156">-0.0560095 -0.00347675 0.00947676 0.00161033 0.0660705 0.0224633 -0.0385687 -0.0249916 0.158304 0.00895468 -0.0488647 0.177351 0.0116696 0.0552533 0.135901 0.0351697 0.0527178 0.0214259 0.0182917 0.0631052 0.0229375 0.0441234 0.0399774 0.0180597 0.0530331 0.0156898 0.0107575 0.0282007 0.0535731 0.0973136 -0.0291268 -0.0257986 0.176724 -0.0321194 0.0240883 0.173576 0.00534193 -0.0661357 0.0218512 0.000542164 -0.0588545 0.108242 -0.0301042 -0.0419261 0.160774 -0.00907717 -0.0239411 0.189561 -0.0136406 -0.0504551 0.170105 0.054466 -0.00921286 0.00983091 0.0268477 -0.059261 0.0217946 0.0436465 -0.0196301 0.132571 0.0461325 -0.0376623 0.016739 -0.0394506 0.023971 0.154001 -0.0345401 0.0537354 0.0214152 -0.0275655 0.0438715 0.163363 -0.041052 0.0374688 0.096997 -0.015313 0.0505675 0.166589 0.0406946 -0.0393468 0.0777242 0.0313938 -0.0522382 0.0727926 0.0295071 -0.0425489 0.162188 -0.0316513 -0.0481608 0.117059 -0.0163449 -0.0564587 0.113215 0.0460269 0.0145006 0.127259 0.0498183 -0.0135679 0.0756917 -0.0480934 -0.00890549 0.117781 -0.048659 -0.032158 0.0152126 -0.0524975 0.0229353 0.0126262 -0.0102538 0.0590898 0.10079 -0.0163435 0.0635674 0.0217205 0.049387 0.0183456 0.0675194 -0.0110815 0.030729 0.187324 0.0211535 -0.0543077 0.12122 0.0146362 -0.0225282 0.186745 -0.0349699 -0.0532071 0.0207903 -0.0175223 -0.0639367 0.0221045 0.0363887 0.0230592 0.166637 0.0396144 0.039185 0.0995444 0.030424 0.0412353 0.161048 -0.0502362 0.00946436 0.0889365 -0.0303766 0.0523895 0.0792112 0.0168719 0.0259823 0.187064 0.0127023 0.0502209 0.173778 0.0339124 -0.0250991 0.171655</float_array>
+                    <technique_common>
+                        <accessor count="52" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-normals" name="normal">
+                    <float_array id="shape0-lib-normals-array" count="300">0.00514941 0.0374799 -0.999284 -0.00936589 0.119625 -0.992775 0.00764127 0.233704 -0.972278 -0.00215116 0.220239 -0.975444 -0.540122 0.0146265 0.84146 -0.973232 0.00266768 0.229808 -0.837143 -0.358135 0.413438 0.0808872 0.303171 -0.949497 0.900621 -0.422153 0.103286 0.924806 -0.333141 0.183713 0.613306 -0.0334601 0.789136 0.131105 -0.358033 0.924459 -0.00630557 -0.201396 -0.97949 -0.00713082 -0.197855 -0.980205 -0.182964 0.366941 -0.912074 -0.140487 0.987829 0.0667596 0.291347 0.952982 0.0833191 0.823392 0.565171 0.0510594 0.112407 0.323689 -0.939463 0.120432 0.331841 -0.935616 0.776936 0.626288 0.0642902 0.772736 0.627647 0.0945457 -0.551252 0.0195581 0.834109 -0.89006 -0.0246743 0.455174 -0.936413 0.0139489 0.350623 0.748554 -0.662621 0.0245196 -0.0341721 -0.243685 -0.969252 -0.107964 -0.988116 0.109408 -0.0945796 -0.992426 0.078389 -0.116055 -0.989791 0.0827372 -0.609025 -0.538753 0.582094 -0.440915 -0.480422 0.758148 -0.219009 -0.552451 0.80426 0.0536713 -0.250443 -0.966642 0.0956532 -0.307037 -0.946878 0.942221 -0.328171 0.0672613 0.941892 -0.327449 0.0749419 0.961686 -0.269549 0.0500401 0.0163198 0.0414733 0.999006 0.118611 -0.0120025 0.992868 -0.984614 0.104755 0.139861 -0.95369 0.28559 0.0944159 -0.86741 0.496555 0.0321346 0.172324 0.981919 0.0783531 0.94217 0.332102 0.044982 0.933902 0.353256 0.0551137 0.526252 0.849445 0.0387539 -0.871496 0.367964 0.324188 -0.877266 0.460979 0.133799 -0.488236 0.578659 0.653284 -0.581545 0.474858 0.660542 0.799687 -0.597912 0.0547914 0.793049 -0.603592 0.082159 -0.136131 -0.335535 -0.93214 -0.450996 -0.885107 0.114843 -0.516425 -0.84501 0.138792 0.993341 -0.0533888 0.102094 -0.997345 -0.002035 0.0727955 -0.96978 -0.236736 0.0590163 -0.843792 -0.533628 0.0570603 -0.953748 0.28992 0.0794417 -0.76976 0.634458 0.0702271 -0.755443 0.648876 0.0909156 -0.426518 0.900584 0.0838482 0.0258412 0.995366 0.092625 -0.0286354 0.991588 0.126228 0.996591 0.0550581 0.0614401 0.996857 0.0320307 0.0724639 0.997917 0.0283288 0.0579515 0.0913691 0.490689 0.866531 -0.170823 0.694284 0.699135 -0.0216781 0.990979 0.132252 0.0247572 -0.989832 0.140068 0.513327 -0.855167 0.0720033 0.61881 -0.779461 0.0975438 0.159116 -0.982993 0.0916889 0.404915 -0.897447 0.175023 0.137883 -0.982499 0.125238 0.536933 -0.383804 0.751264 0.609798 -0.491333 0.621883 -0.526223 -0.84804 0.0625938 -0.459805 -0.88454 0.0785406 0.725063 0.0343839 0.687824 0.924725 0.349691 0.150334 0.941826 0.327835 0.0740734 0.917368 0.378075 0.124478 -0.93521 -0.344185 0.0831846 -0.89595 -0.434174 0.0936297 -0.90329 -0.420575 0.0847596 -0.990743 0.125593 0.0515298 -0.497873 0.861017 0.103785 -0.383292 0.919684 0.0852547 -0.475364 0.878088 0.0546927 0.688082 0.409927 0.598752 0.527696 0.837197 0.143659 0.660255 0.445145 0.604904 0.358694 0.926551 0.113322 0.304002 -0.950467 0.0647629 0.969788 -0.024578 0.242709 0.970899 -0.0307507 0.237507</float_array>
+                    <technique_common>
+                        <accessor count="100" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="100">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <p>0 0 8 0 17 0 0 1 35 1 8 1 8 2 37 2 1 2 35 3 37 3 8 3 10 4 15 4 39 4 33 5 2 5 21 5 10 6 2 6 14 6 6 7 8 7 1 7 19 8 28 8 26 8 19 9 51 9 28 9 51 10 49 10 41 10 3 11 41 11 15 11 12 12 34 12 17 12 17 13 34 13 0 13 35 14 22 14 37 14 37 15 36 15 1 15 6 16 4 16 9 16 45 17 7 17 5 17 6 18 7 18 8 18 5 19 7 19 6 19 5 20 9 20 45 20 45 21 9 21 46 21 39 22 11 22 10 22 10 23 11 23 2 23 2 24 11 24 21 24 27 25 18 25 20 25 43 26 34 26 12 26 30 27 13 27 16 27 13 28 43 28 12 28 43 29 13 29 30 29 10 30 14 30 16 30 10 31 16 31 15 31 15 32 16 32 3 32 17 33 20 33 12 33 12 34 20 34 18 34 26 35 32 35 19 35 20 36 32 36 26 36 20 37 17 37 32 37 39 38 15 38 49 38 41 39 49 39 15 39 33 40 21 40 47 40 21 41 24 41 47 41 35 42 24 42 22 42 4 43 6 43 1 43 7 44 38 44 8 44 38 45 7 45 45 45 6 46 9 46 5 46 11 47 23 47 21 47 24 48 21 48 23 48 23 49 39 49 25 49 39 50 23 50 11 50 27 51 20 51 26 51 27 52 26 52 28 52 43 53 42 53 34 53 16 54 29 54 30 54 16 55 14 55 29 55 31 56 19 56 32 56 0 57 33 57 47 57 0 58 34 58 33 58 29 59 34 59 42 59 24 60 35 60 47 60 24 61 48 61 22 61 23 62 48 62 24 62 25 63 36 63 37 63 36 64 4 64 1 64 4 65 36 65 25 65 8 66 38 66 17 66 32 67 17 67 38 67 31 68 32 68 38 68 39 69 49 69 50 69 39 70 50 70 25 70 4 71 25 71 50 71 3 72 16 72 13 72 27 73 40 73 18 73 28 74 40 74 27 74 40 75 13 75 12 75 3 76 40 76 28 76 13 77 40 77 3 77 3 78 51 78 41 78 51 79 3 79 28 79 42 80 43 80 29 80 29 81 43 81 30 81 49 82 51 82 44 82 46 83 44 83 31 83 45 84 31 84 38 84 31 85 45 85 46 85 34 86 2 86 33 86 29 87 14 87 2 87 2 88 34 88 29 88 35 89 0 89 47 89 23 90 25 90 48 90 37 91 48 91 25 91 48 92 37 92 22 92 49 93 44 93 46 93 9 94 50 94 46 94 50 95 49 95 46 95 4 96 50 96 9 96 18 97 40 97 12 97 44 98 51 98 31 98 19 99 31 99 51 99</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
diff --git a/robots/tiago_description/meshes/arm/arm_6-wrist-2010.stl b/robots/tiago_description/meshes/arm/arm_6-wrist-2010.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5a7391a1bb43140ddd4977bbb0084c9a524b634f
GIT binary patch
literal 18284
zcmb`Od6*W(wZ;#dULh!=EFvh2Aj{yeMwsdDn(KfBHHa7mm54;6tOH?3kU?=}F@q#x
z5Fsp=Afhn}I5O2;3Sz*Z5^zHZB8(%8fPji9Fgd5YzV@wo@W0DnJkOarRb6%J)T!V1
z)~)$H8vlR(8&-*^?!_0Y;eBr~H+IYl-dnf8%Q^Rgutn!iUNmi?_ic~*;mQqH7H2O%
z;x(M~ogUrp(qf`s*Edub-;!_sIPkUrEnB`W^ZqrcR979@(L+x}KOAggzRS-u-M;(Z
zVC9$-`on!6>W`PT_qI)|9KLdNw=S<%x%l1vujn6YUKF0#T$}rN?2#6x_bT7ioZC7;
z%bfLp)4R%QhUd5K;Grj?|NQc5vuW6=aQ*3Q)wp%d@NoW}x-@H;cm4Q!VYQaKUVfwT
zV6XI}E5gS&9DTX>$o3x5zpCV!A*J=B;;*kzXj!<jet4qV7=8Z}?LG8Fbm)isqmPES
zFlCo@QG-8!r6h{#hC^%J>pjzMo*wi{xxULU@Nk4g2cMe|RaNcHTSwa}v}}0(qmsqf
zHVKPNCl5UlJ#^KT;Rm^Srcc;XjqX{;&wqP~E?RnpS8DS7n$IuRw;pTn{b@;_f6L-w
zy5apZ_&Zvy%g$}}pI@2kYc5l0`Ko?B|D8Qk^u0Z&dgzI$;DWjO^BI#&E6)#bBm)ah
zlzj4ft5DW?{5>mkXRT=+uRl@MEl=ijf9ihIXx&W#THc%y<&N#wB&5C_JoH3V{^R$-
zt+N^!y{3sOjXw06SN>2}Z#&fMJ!`J_#@K4%oIQ6}h?4I{e;+g(*T6Kb)Kp>oU|gXm
zqS<4PMY}84Hg9ifqi_u_ueDFF8~mo8(|JgRD7mM{k*Gz<xu)}_ofXCpt_^zPNNj(R
zdQBgUikh`mIFf#EpW{EguvkwU)YiNC_HwV+`3v>JI|lK3j2?2C8n^9W^zX8!3N1Kx
z^hDHo%bIBMsi9`-m<9ok1S22UhUm{XE{-0%X1IB-Q?CFmxCZEns7Iw|f?re}Y3}@E
z*8o=yR}=R<(U!;N2R&C5m@40Q572^ZgPw@yR5~YmaKKA?SonatcgKFO(bN~(?Ja-O
z8*zQ9H*0HieZl0J-dlO~{AH6G={^IV=DEs!s7>@iQU7pLrO65{YEM1?=v%wm9WR~d
zp(mn^)jRm}?%Ec0EgR&_E=D_gBKmgOC*l0;mC@BjBb+{PRJcw=>ubFo?LNFHtkrR-
z(_;LPtNc&C{-)&N-@V|qJJ!LkpIfE<H4|3xcN9MIX;f!SmvB|r`xIL6JKRzA`glaR
z@n99x;PcxRjvaR}_D9rgX<>A-&gN*(fq@Dw=odY4E_w6{)2-^e(Xq}~D%=y8)iB!;
z{q?ryrtI=9(G$a)E41KVK~F?CzTek;yP&f9;LfW8Y_X?N<M5Yiiaxjd@z*fV6J7G$
zZ_KCrs+q$_^8>VCALxnbyqe?9RjNnS=e>>rX6nxmXN7~7o__hE<v+fL{Ske3-FUO4
zZTIMA(=I>@`bAGf7e0Kx%59lt2EB4Jz`c!`)1BSf;bXz}eyvQcr#m_;h_Qs8i01Eo
zJgB?j8guW!dJ6O4MU%JX&fZctocHeCp1Y%J4lW3?s&_R{7qw7m!99qci2T7@b0-|T
z#xy+GT%lh)WiU(d>HOvP+-?`;n|t1BuF!)0p(mnu`YkLOc*{gn+;C8E*E@Os!qKnk
zr8Bz};~9nXMzm;cNB{KRvF7a;X9j4QJgJ^PIHyGaF7k@e6VdbYFH~Qso~Cr(cxOGP
zzfj$8v+i9z<V2fdY)y3LU|rSeAKlFU&V>P5us?S_+EN#Fq-$%l`uL3jW@M~tus`1C
z9elO=NK;d_d|-eU^oyQ|vbN6&pUbKd^*BCRMLN&#-LGc*mXp^w`2%+|QS}#(mgMAj
zh^E$=?CkSd#d-d+XR7E<pRVxG6KA+v`h;QKDyB=}9Zm&+E!;i^Uh*e>=RdQ<eZ__9
zRHNx7>suYyYd@Xt^*UOdtApdZTJM=&*|{&}J~ghHe!b%y&T#T?!6P?^PcAQ1Xlb+K
zT%GwV^hEUQZ)OKySN&B~lrz%F)HMdK_Ja2p>M>KMdw3=iU9|13u+iqfM$<R{LG7(O
zT0j5BCcXKtnNEF$am>*^twEG;UX7l4YM4`z;YiRE(U8U4qNTyd;e?s@sr(oB>uT$}
z>a|0k@J?P#VZ)szFMo3638!Y{YN_6;=-9KjhF|87P*_c37DZ1)|JSu%aKWriQMGFa
zsd^WT@MbR9p&KlAXV=|P7vEGpsGqeVYPM#uvukm0qbH*K+RoJ5)f-XQoZ$*r4Zqx-
ztBnJjd6gdD8ZGWS*qJLF33?*hcKN*M(m{FAFZzy9SKb@yf7D&5%kP}-;n(6U5S86D
zKl=4O*G19z0;dYcGXp&lJvjHy=)j3_(eNgtoHGimFn0xM?11RDJD!am9W~sE67-Ax
z5e=_2I9U5iK{VjJQBEz2k?78D#~TI*`}-}6`usS=SwUP6H+EaUx*}YAg!G|H3RSC@
zR_H6IHPfd?7I`~{t<>AUnEdkouZx@*<N9jJ$Klc1XEcqOqA>b!cF_}`wX{?BZLy=I
ztjz5L_uw1-Yv}R!ZT|b;UX@+@hyU5BtDpI_q?B8r1xMxfA^Uu9zl|mTJX5I9FYb9=
z^>4WwPmIY<`Z)d7Q`ukG7HGl#&=b+R|CD(TPFz*;L#dlfYTP};yX~=NdPQN8ciYk@
zyjh?3Y&W;Oh`-~^&NA=&u}KTGV1GD5{_^)o?`U~@c<ir*PL$yOa7VTN_wR?N%Wn^N
z_MYObAg%|-7~k$5>K)#4LyfTZBZbcXz<720Sa9PGeW=Qu@Gj-fF0O&w$EaE>yt+Fp
zg@?8jDy&$sD#jV%*&W}-*G0=qmg+)<7Mxx5#96d)9e>-QHsPD|-1We0;O>vvdu9iZ
z?z%3jRBxohU4*rd+eglWW!~upL0DyBp~8{is=0kkq+b5EY1fBU`xiQU5c@+<M6dp%
zvtO{NU-;tP?p)ztVQZo#<%O!z&;vR5HtLeQY;B%ja%;`@vIDRR$Et?t1h-h8m7R0@
z(>-#q1^$&=$*kiRb-TAJ={A4pT5N%*Gxo=KXKwME`KMl={$oiow!l*#TNBk|ic`?{
z2GyG>j;&rixy9Rin=cf{){MT;os{Azp*U!<)r%(-2R#v;WQy}`exB;i6vy67eW5kB
zhWCWx*c#pwx|32IB@_oO_Gan}#X(O*o0-WBDy<&~ld&g@Cltrl?Vd0hw{92ivwqkq
zU$_ri&T>-6o|xh=lc}cKtM$xe><Q@$#j&-oFH8nUNOU;iK1#R`TI?C+3HL!yL<15g
zqiQgdvGu1X6vy5mJYh0+&Ao);JeqJHbrW+RwAi@vg!`Z;q6tiK_Rg53S~A74xA=IS
zEf4Tz{qdWKewk1lbs19}wAf1D7m9<Ph=j>B9oIk!ld<QWClm*x1fz#Db;5nrTIN1z
zu_vc5+y_0S6h{fg!6>n3xF-|`XPQVTPV<s;RVSu6Xu-8XPefx9CKGIBCWB+gk=Wej
zB^2jT=02<S!QhX~eb8bneNVU#dP*sd5{iRsfDw)(BziibI7%oET5xU96H(8E;-~>k
zad2<rs^MxT6z94X1*$Sr9JJutpeG`anan3e{e59Fc*>lGWq1k25$-c}z)PNRA4?-*
zi#-86;Xdez=o@A-&t<O+gvsFSVhi+?aG&{iZ40hu?t>QGQRpdQGIhsv@rB7?3;Ygb
zHGFb1_xbYhBL70>K4`Ibr(EGa=!vKaGnwz}Yz~CU;7IVVur<-InEU+mU==0Y2Q9eg
z(NoG~0%0<^CosY>KN3w#xKD7Dxer<}qoOCit0fdi3B|#DZrO<^6bC(}6h|Flih~v$
z6?#f2PHWX8xS1&q`bCO^8JuW0Q=CO@y9a%k;-CflLr<Jb5+<XB$>2`K$Z%)Zavvq!
z2Q8Ru(G!tnGD?^XW;NVVxYLN{CEQ2d$J_@k_U7da_d!nylgYm*UkQ`Jzrxm-C5W;U
z?xQYc?t>OQm(WwfWXkuBRl;O!#o`IYvFyYXCWEs;^j5-s)N9Or(1K?adP<p$`jVLp
z&LXzP{!;FvzF_Wy7E4<^;XddoVKS?ZG*!Z6FeBq%VQV7cK8L%uR>FPIg7pr1B5KJ@
zCNIB3AWY^gRhTDC26r>jRm^=BWz`6T`=AB$3VKQ@jsl7k*9O?yR()}QQm4jD#up}I
z?=_xK9DC>RgxuKrI{rV=-3j;ch5MkzR{EZBAM}(`oB$|Jd_v;MX=`dvhz@7b+Fylh
zhrbrQ-gdY%DvU%twK<FKD-Vz6KNBqJJ<2)H?LEp92IP)Pn9Ntt-s+bzld<<RPbdy%
zIIIAPhBEhA6nyLp_d&~9Zr-scrcumfF3H*u2$Qil6Hh1(?o@Y2EoJU={;W-ba38eb
z?4l>4P0VEI@vVU{8T>13jq^tI`-J-h!hO(!^MjreCe!Pl>jGgi_HOA3#laH*=Pltr
z4F}}~HJSUM1!o#P5mjO))9;RF17R}g7yk-ZlYg6F?z8X2xInlMS}-!u6HzB-G6(uC
z3xvsF^x=BAvun9eAlwHn7_aDwe+5{!A}pP^)$4ywp%YgaCCE;AcK`iZ*yPRgyvAdv
zD74rcy(bI^=Z$w1Q=D5`?8p_0a~4Jt?^JBf)hkn+^Ui#lD-;JU*dKaIG6PebT%kB;
zVI*-Mm?hj6XhFZ|DWNzIO<a{L6z43Q!4ryuIfn1GOmTi3o3ua+`bAGE#qojS#MuBx
zh>_2~-6a&q2Z|G~0Y;*`9tT$M(7%1)YJdJRcXqK4j8G!AdPcbVk;(qR15=#X#XfMI
zh=k(Q-&x5Qii2N>RWa7S3B@r*%X5X|pvAI`cy`fKN^yLkIPp4T<hz-{Qk(!NPMpKB
zKdhYi_gbbnrxpahP#pA&tBE5ddVnd;htsb2h2o$E_aJ&oDUJ^mC%!>o3-pvwoXdtD
zSbI+eii33t*4GKeS&@~!_O=QX2dfus&FjHTre60}xj_YrgMQu9Stw5b`KP+hs6cV>
zuiOgYjanD0aXoJ^4-9S_;crks^Xt1Nx<fTo4|mTuf7x_<Wb02+?`T`Sh!#hqC!&t~
zo0wgl^3105@*~t2{LC-0+y_l*VJ5!do3_uliEMQ*>K$!wtfIxy=qaH%Ls?n#`qx(&
zdwz%(N87qxlr<XadG2G^PwE|m7C5OjdP*sdVTxnyIVf5jZEIgq);J?fDUPUj436EN
zIHKOs=qaT*hAED*6{~1*w7n;YvPRqW7cCBdhov}%DULyljU`d<X!JxhRnOI*OrB)+
zOyC0=G&lC%A8T>&oA~#^%V+2OcFO&xlYeuB7JD}kEsjP{Da8?Gjj`vQXmOk<!RSdT
zj$w*p&|=S8QSWH<lu{hg;uwq)dxnb^N8?PV6vr^dF=)ZHK~E{giJ0OTjBp%@%~ztu
zk@ZL@PQ(<)pvB$|M7`t80@3B~t%=?~Hq?|9TpHmTV1(lci7H>aIC`f2a5L(O8zZ#f
z+Mp+{uTIPj8hty$wAzys;oino!__1jIca|I&R+^l%l<tgwBXvHr-b5slqhQqoH82d
zhqjbLv^YFhLUE=Hh}Am=E%r1J^^QhQDa8?GjWfI00zIV^Ct`}@^np7H*NOKBD{E>e
z${MEyeh1vC_&Y?svxn6?wL1<qXtDPwQSVgva!YYUSz~Y{ICgBEQXEn57_{J?M^7om
z5oL|RJ%JI9`7xz95mOw47R-a_iRk8yea-2oE1O+CvLnprmXX9-9Q4Gu?b*LE^FFU;
zzB#9RgcckXdLsIw(s<L%>k)mip;Lr@e}>}ldg#3IW=!+$(e4%PBh2mCA9_kDjwovk
z?o^BncXmO&6QKojEqY2RjwovkW;NVVxYJUKW0>L?wAj0vsCP7aN-2&gYYhGsw#F=x
zQXIn+$DjqzCG<pe{|6oYy~ShAwcBS!_`B23C}4O!{#~}Dq$p>iIaD?{!ui273Ox~p
zrFGSU>D|o9=ch(Ei`W|bBU(K2LUm1UPcvck#0V`vqnY7Roowc-KksO2E?9ndgt;C2
z!`6IP+jq5U$m*RZ``i?v1?wI3#GHXCPHv*CF;IDF_$^K2ZYFBO6lX!A-f{Lh<`wjm
zQXJ9ZI28c;#r~3;msQpndzTR{j<)v?%@jx5`a1r9N^wNJW6)x&dr|Lb^psK@(c(Cn
z8c$AJUyCk>*TYhrh$)UUDvU%twNr`{F~xDtb9;9ZB~OJ>3B@^*C~J(plZh6`sr0Y{
zBpSvPXBn$^CeFOipat&d8a<^HN0c?j-ZMmt<Lp#-M_Gy^>K$j-;_RZQl;Vi8#^7I}
zU!1p;;)r_3sa|o_&{IlrL|J3(JyWze8czT`8B&T9F~xDJaGW3Xlu{f~);MPr{uQof
zN^wNJW6*+;fg?;QjwoxKS`;&<JG-FXaaIuH72}wwHdCCkd0RD894D?YN`Rekv<t;)
z_U3t-DULyly~T@?r$Ss=iX&Pa1B}Gkwb(kLI5iS2jzJ6dhn`X<BU&5-jKs+Xm?hj6
zXhFZ|DWN!16D^Jbo}ldwTeLV%f7}PFcbMXcddJB==odYu6i2i;PL$vXG4fN2BU&71
zt}qfYj)^SA37O(JEwB%a(3IkYOmUo1VIR0o3B{?CXmOmm!m1c+--O~=EsjA8&aOLG
zpv7@!7x#pl89<9;a8F==SUIH>N3=N3j>5A9N0?F^(c&1iV1GEml;VgM$Nlo3)Spg_
zIa-_&RJ~wbg7tMmaaw<uofDnY(^1x7^@6Pviet4nj(P|Ex~DT}ak}8B@UPqoz)~C~
z6vtMRqPfxbeimyq@Ruf{{t3lVLUGVys~6GYX!OKd1Ex5;JLM^%IJQ<7&5g!iTv2zx
zyEdUXN+=Fm?2T2lI2t`AFRHAvCUbs>f=1)Hi}n0Z>K)-eXt9;PsCP1Fd+aHFQ6<Wn
z%sD7poD3-tWle_S#3M{!R4IN@m7zGX#a7Fr-pNp$*i-tVO7V-T48;*Gj<%5@%9;$t
zk>A_+G_WtK6u+p-)NrxI-Yi7Dlc6}VC;knRDb7ceC#l^`ad0H|-XCjmP@_RqEulC{
zC=Oce-9WTB8I~1)Q~IJx@r$a=$thZ#OeG`AnhH^3UsQ>DCqr@KNW{3ZCui&_VKV$a
zO7Z)s48@7#3ZulH?eW^A+(*<qnW`_g*i&EBI~C%}zNiZLMOB94#1U>QeNonEo3G@T
zMqUs5qAK7QRhjBFw&2+Dn^KCSgyP`XG4gS3Qi`Mgz!V29xSHsRXlp`oR7<8fxN5kX
zxaWyRFvZ#Umjcy_DGpk2Z=<J#$xKU>H4eqGxm~z;hGmH2hUZGuJKGcWPKKAn7UU&(
zUZpRp0)A2D%q~W|B_XyC`=UzJJ5C=sDt85i$&@9^8mEQ56^XJ&<DH6kEpwj+iF(JO
zIQSjzsO*a>QPyNAPP|iXZjW~`_Lsh>67^2zb{CHX{o*X}sI0PvUsPo(<T%1@<sD}=
z%yudF5%o@n;>39nb1m+bl;Wt*nBt%>%Sd7^4(55H6$!;r$C=`w1^Ylx3B_sb^$1Ft
z;$Wsmii7<n6lYZP?!jkFanOQ((Np@ON|ZGjY7p;jOAX@8>CP^wcbpZ(Si&rkzNk|C
zqAEji;yh??UZSkg?v4WWPKM&dxfb`Jy^F-2(ic^VUsPr8gRx(Gql-@&%o6E~DpBub
zC{CQiaU?iGqJ0UIQHPny{LF7q6;7N9%za9W$134IIHRbUK~E`@QRA4&;4Gp723sfG
z=eg<KlyD!kV1MW-VKR+aStCpaGcr~+*k8(hlyD!kpkMUlC~F*wgZabV=a(_}QHgrT
z+2^)~6E%%?YdHI&O0+mm1%NHwKJ1GsQPyO5iD+@Ot<^nYGVm)YXKMM!+(*<qnMz-N
zug%;b<Nw=RQS2$DIHJXIGPSM3<+t0+uQK*Lw=b#!eo>XV<H+ylPJM-OoW7_E_(hdd
zk>N<}Ju3E;C~KA^%9_k=TNE@JZ`)Wi@;S)d=TM^FaVQREQG2_KJ*6+IL|K!$v4|GO
znO%2B*%wu!-f?y<?rnQxi9Mw+szh0np*ZoX;g`E}WnWZ@ddHb790{&}`l2e}7gZUG
zBU+pcTZq3FXCdJ}{Gv+KJ5CjjXNJA8#-7p_RidnM&M2(g+!eGhszklxL<#!E{?Zp!
zqO5UhQH(@)cI}HQQSUe_i0gs%9Fe@JDn3FUzo^RG=taq)k(XeM5xvhZs*cn?<CTw|
zV$g!IWN-Abr}RaYXmOlAEH#MtAhHv#MUxj*qQ!Bz501+1L-x7V;u!Rc*#OxI=ftm`
z`ulEH?`){ReQ+e`DWN#i5-pCCOYB`;)FRsD45Gz3nP_nwmVqO|5vCMJv^Y+b;Qnw&
z1zH?uc5yv0#?lv6KEJ4P_6NqR+lPHo<@1XwXLfN7+&(~ylOYpv9gS77J6CV=iz=(d
zapnqV7i(Wfi{q>ZW&?MBfEFi1apHWAwU66JPV%Bkv^W_i6R$I_n%jqcQ6*X&XAk18
z#cxU}j%ab5xx&A~){Yj(p*UED<IOvvI9cCiudPUN@UPrT2DCU1#lh1V`{TRwPg)#@
L;^3)|t%?2%YPlYj

literal 0
HcmV?d00001

diff --git a/robots/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae b/robots/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae
new file mode 100644
index 0000000..5c60e13
--- /dev/null
+++ b/robots/tiago_description/meshes/arm/arm_6_collision-wrist-2010.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <up_axis>Y_UP</up_axis>
+        <created>Fri Apr 8 14:02:14 2016</created>
+        <modified>Fri Apr 8 14:02:14 2016</modified>
+    </asset>
+    <library_images/>
+    <library_materials/>
+    <library_effects/>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="138">-0.036859 -0.021497 0 -0.038774 -1.69487e-09 0.013937 -0.019152 -0.034535 0.013937 1.73045e-09 -0.039588 0.013937 -0.020373 -0.038062 0 -0.032944 -0.020636 0.013937 0.03341 -0.019242 0.014227 0.019152 -0.034535 0.013937 0.020373 -0.038062 0 -0.032944 0.020636 0.013937 -0.036859 0.021497 0 -1.8215e-09 0.041671 0 -0.020373 0.038062 0 -1.73045e-09 0.039588 0.013937 -0.019152 0.034535 0.013937 0.04733 0.018629 0.015678 0.04733 0.022725 0 0.019152 0.034535 0.013937 0.036859 0.022725 0 0.020373 0.038062 0 0.038774 1.69487e-09 0.020319 0.03341 0.019242 0.014227 -0.041671 -1.8215e-09 0 -0.038774 -1.69487e-09 -0.013937 -0.019152 -0.034535 -0.013937 1.73045e-09 -0.039588 -0.013937 -0.032944 -0.020636 -0.013937 0.036859 -0.022725 0 1.8215e-09 -0.041671 0 0.04733 2.06886e-09 -0.022291 0.04733 -0.018629 -0.015678 0.03341 -0.019242 -0.014227 -0.032944 0.020636 -0.013937 -1.73045e-09 0.039588 -0.013937 -0.019152 0.034535 -0.013937 0.04733 0.018629 -0.015678 0.03341 0.019242 -0.014227 0.019152 0.034535 -0.013937 0.04733 -0.018629 0.015678 0.041671 1.8215e-09 0 0.04733 2.06886e-09 0.022291 0.04733 -0.022725 0 0.038774 1.69487e-09 -0.018953 0 0 0.019322 0.019152 -0.034535 -0.013937 0 0 -0.019322</float_array>
+                    <technique_common>
+                        <accessor count="46" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-normals" name="normal">
+                    <float_array id="shape0-lib-normals-array" count="270">-0.956373 -0.21408 0.198796 -0.924961 -0.261316 0.275972 -0.137458 -0.038834 0.989746 -0.168633 -0.951941 0.255679 -0.252484 -0.956972 0.143027 -0.0355387 -0.1347 0.990249 -0.688801 -0.685516 0.235839 -0.690164 -0.684851 0.233778 0.0175231 -0.970177 0.241763 0 -0.967525 0.252774 0.0912315 -0.103838 0.990401 0.168633 -0.951941 0.255679 0.252484 -0.956972 0.143027 0.0355387 -0.1347 0.990249 0.661573 -0.711135 0.237925 0.688489 -0.648067 0.325565 -0.0874386 -0.278441 0.956465 -0.212253 -0.326909 0.920912 -0.956373 0.21408 0.198796 -0.924961 0.261316 0.275971 -0.0998015 0.0990332 0.990067 -0.168633 0.951941 0.255679 -0.252484 0.956972 0.143027 -0.0355387 0.1347 0.990249 -0.688801 0.685516 0.235839 -0.690164 0.684851 0.233778 0.0175231 0.970177 0.241763 0 0.967525 0.252774 -0.0245566 0.295514 0.955023 0.168633 0.951941 0.255679 0.252484 0.956972 0.143027 0.0355387 0.1347 0.990249 0.688489 0.648067 0.325565 0.661573 0.711136 0.237925 -0.212253 0.326909 0.920912 -0.0874386 0.278441 0.956465 -0.956373 -0.21408 -0.198796 -0.924961 -0.261316 -0.275971 -0.0998015 -0.0990332 -0.990067 -0.168633 -0.951941 -0.255679 -0.252484 -0.956972 -0.143027 -0.0355387 -0.1347 -0.990249 -0.688801 -0.685516 -0.235839 -0.690164 -0.684851 -0.233778 0.0175231 -0.970177 -0.241763 0 -0.967525 -0.252774 0.00923595 -0.240937 -0.970497 0.168633 -0.951941 -0.255679 0.252484 -0.956972 -0.143027 0.0355387 -0.1347 -0.990249 0.688489 -0.648067 -0.325565 0.661573 -0.711135 -0.237925 -0.345074 -0.313983 -0.884499 -0.0919974 -0.213247 -0.972657 -0.956373 0.21408 -0.198796 -0.924961 0.261316 -0.275972 -0.137458 0.0388339 -0.989746 -0.168633 0.951941 -0.255679 -0.252484 0.956972 -0.143027 -0.0355387 0.1347 -0.990249 -0.688801 0.685516 -0.235839 -0.690164 0.684851 -0.233778 0.0175231 0.970177 -0.241763 0 0.967525 -0.252774 0.0912314 0.103838 -0.990401 0.168633 0.951941 -0.255679 0.252484 0.956972 -0.143027 0.0355387 0.1347 -0.990249 0.661573 0.711136 -0.237925 0.688489 0.648067 -0.325565 1 0 0 -0.0919974 0.213247 -0.972657 -0.345074 0.313983 -0.884499 1 0 0 1 0 0 0.942197 0.234627 -0.239195 -4.37114e-08 1 -9.05704e-16 1 0 0 1 0 0 0.959865 0.239026 -0.146717 0.268302 0.674582 0.687716 1 0 0 -0.0245566 -0.295514 0.955023 -0.137458 0.038834 0.989746 -0.0998015 -0.0990332 0.990067 0.0912314 0.103838 0.990401 0.0912315 -0.103838 -0.990401 0.00923593 0.240937 -0.970497 -0.0998015 0.0990332 -0.990067 -0.137458 -0.038834 -0.989746</float_array>
+                    <technique_common>
+                        <accessor count="90" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="90">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <p>1 0 22 0 0 0 0 1 5 1 1 1 1 2 5 2 43 2 2 3 4 3 28 3 28 4 3 4 2 4 43 5 2 5 3 5 5 6 0 6 4 6 4 7 2 7 5 7 38 8 6 8 27 8 27 9 41 9 38 9 43 10 7 10 6 10 28 11 8 11 7 11 7 12 3 12 28 12 43 13 3 13 7 13 7 14 8 14 27 14 27 15 6 15 7 15 20 16 6 16 38 16 38 17 40 17 20 17 10 18 22 18 1 18 1 19 9 19 10 19 43 20 14 20 9 20 11 21 12 21 14 21 14 22 13 22 11 22 43 23 13 23 14 23 12 24 10 24 9 24 9 25 14 25 12 25 18 26 21 26 15 26 15 27 16 27 18 27 43 28 20 28 21 28 17 29 19 29 11 29 11 30 13 30 17 30 43 31 17 31 13 31 17 32 21 32 18 32 18 33 19 33 17 33 20 34 40 34 15 34 15 35 21 35 20 35 0 36 22 36 23 36 23 37 26 37 0 37 45 38 24 38 26 38 28 39 4 39 24 39 24 40 25 40 28 40 45 41 25 41 24 41 4 42 0 42 26 42 26 43 24 43 4 43 27 44 31 44 30 44 30 45 41 45 27 45 45 46 42 46 31 46 44 47 8 47 28 47 28 48 25 48 44 48 45 49 44 49 25 49 44 50 31 50 27 50 27 51 8 51 44 51 42 52 29 52 30 52 30 53 31 53 42 53 23 54 22 54 10 54 10 55 32 55 23 55 45 56 23 56 32 56 34 57 12 57 11 57 11 58 33 58 34 58 45 59 34 59 33 59 32 60 10 60 12 60 12 61 34 61 32 61 35 62 36 62 18 62 18 63 16 63 35 63 45 64 37 64 36 64 11 65 19 65 37 65 37 66 33 66 11 66 45 67 33 67 37 67 37 68 19 68 18 68 18 69 36 69 37 69 16 70 15 70 41 70 42 71 36 71 35 71 35 72 29 72 42 72 29 73 35 73 41 73 38 74 41 74 40 74 40 75 41 75 39 75 39 76 20 76 40 76 15 77 40 77 41 77 30 78 29 78 41 78 42 79 39 79 41 79 41 80 29 80 42 80 35 81 16 81 41 81 20 82 43 82 6 82 1 83 43 83 9 83 43 84 5 84 2 84 17 85 43 85 21 85 44 86 45 86 31 86 42 87 45 87 36 87 34 88 45 88 32 88 23 89 45 89 26 89</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib">
+                    <bind_material>
+                        <technique_common/>
+                    </bind_material>
+                </instance_geometry>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
-- 
GitLab