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How to put urdf in parameter server?

Is it possible to use the urdf format robot in parameter server similarly like xacro format like below? :

<!-- Convert an xacro and put on parameter server -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find pr2_description)/robots/pr2.urdf.xacro" />

<!-- Spawn a robot into Gazebo -->
<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model pr2" />

I have downloaded a robot model in urdf, but its very large so it's little hard to convert it into xacro format. So i want to directly use it, but what to for this robot_description parameter?