@nebula-spatial/viewer 0.4.2 → 0.4.3

package/dist/urdf-session-C_LAfkkM.js

@@ -0,0 +1,439 @@
+import { d as at, c as lt, a as Z, b as ut, r as ct, p as pt, S as V } from "./session-DhZXy40-.js";
+import { d as I } from "./stage-BKqg5vNe.js";
+import { Group as x, MeshStandardMaterial as K, Mesh as M, MathUtils as ft, Matrix3 as X, Matrix4 as P, Quaternion as S, Euler as G, Vector3 as v, BoxGeometry as H, SphereGeometry as Y, CylinderGeometry as tt, CapsuleGeometry as et, LoadingManager as dt } from "three";
+import { GLTFLoader as mt } from "three/examples/jsm/loaders/GLTFLoader.js";
+import { OBJLoader as yt } from "three/examples/jsm/loaders/OBJLoader.js";
+import { STLLoader as ht } from "three/examples/jsm/loaders/STLLoader.js";
+function _(t, e) {
+  if (!t) return [...e];
+  const r = t.trim().split(/\s+/).map(Number);
+  if (r.some((o) => !Number.isFinite(o))) throw R(`Invalid numeric value: ${t}`, "E_URDF_PARSE");
+  return r;
+}
+function N(t) {
+  const e = (t == null ? void 0 : t.querySelector("origin")) ?? null, r = _((e == null ? void 0 : e.getAttribute("quat_xyzw")) ?? null, []);
+  if (r.length !== 0 && r.length !== 4) throw R("URDF origin quat_xyzw requires four values.", "E_URDF_PARSE");
+  if (r.length && (e != null && e.hasAttribute("rpy"))) throw R("URDF origin cannot declare both rpy and quat_xyzw.", "E_URDF_PARSE");
+  return {
+    position: _((e == null ? void 0 : e.getAttribute("xyz")) ?? null, [0, 0, 0]),
+    rotationRpy: _((e == null ? void 0 : e.getAttribute("rpy")) ?? null, [0, 0, 0]),
+    ...r.length ? { rotationQuaternion: r } : {}
+  };
+}
+function W(t, e, r) {
+  const o = t.querySelector("geometry"), a = o == null ? void 0 : o.querySelector("box");
+  if (a) return { type: "box", size: _(a.getAttribute("size"), [1, 1, 1]) };
+  const n = o == null ? void 0 : o.querySelector("sphere");
+  if (n) return { type: "sphere", radius: E(n.getAttribute("radius"), 1) };
+  const i = o == null ? void 0 : o.querySelector("cylinder");
+  if (i) return { type: "cylinder", radius: E(i.getAttribute("radius"), 1), length: E(i.getAttribute("length"), 1) };
+  const f = o == null ? void 0 : o.querySelector("capsule");
+  if (f) return { type: "capsule", radius: E(f.getAttribute("radius"), 1), length: E(f.getAttribute("length"), 1) };
+  const s = o == null ? void 0 : o.querySelector("mesh"), u = s == null ? void 0 : s.getAttribute("filename");
+  return u ? { type: "mesh", resourcePath: r.resolve(u, e), scale: _(s.getAttribute("scale"), [1, 1, 1]) } : null;
+}
+function wt(t, e, r) {
+  const a = Ut(t, "URDF").querySelector("robot");
+  if (!a) throw R("URDF requires a robot root element.", "E_URDF_PARSE");
+  const n = ut(), i = [...a.querySelectorAll("link")].map((s) => ({
+    id: z(s, "name"),
+    name: z(s, "name"),
+    inertial: (() => {
+      try {
+        return _t(s);
+      } catch (u) {
+        n.errors.push({ code: "E_URDF_INERTIA", message: `连杆 ${s.getAttribute("name")}：${u instanceof Error ? u.message : String(u)}` });
+        return;
+      }
+    })(),
+    visuals: [...s.querySelectorAll("visual")].map((u) => {
+      var m;
+      const p = W(u, e, r), d = _(((m = u.querySelector("color")) == null ? void 0 : m.getAttribute("rgba")) ?? null, [0.68, 0.72, 0.7, 1]);
+      return p ? { origin: N(u), geometry: p, color: d } : null;
+    }).filter((u) => !!u),
+    collisions: [...s.querySelectorAll("collision")].map((u) => {
+      const p = W(u, e, r);
+      return p ? { origin: N(u), geometry: p } : null;
+    }).filter((u) => !!u)
+  })), f = [...a.querySelectorAll("joint")].map((s) => {
+    var A;
+    const u = s.querySelector("limit"), p = s.querySelector("dynamics"), d = p ? E(p.getAttribute("damping"), 0) : 0, m = p ? E(p.getAttribute("friction"), 0) : 0, g = p && (d > 0 || m > 0) ? { damping: d, friction: m } : void 0;
+    return {
+      id: z(s, "name"),
+      type: s.getAttribute("type") ?? "fixed",
+      parent: z(s.querySelector("parent"), "link"),
+      child: z(s.querySelector("child"), "link"),
+      origin: N(s),
+      axis: _(((A = s.querySelector("axis")) == null ? void 0 : A.getAttribute("xyz")) ?? null, [1, 0, 0]),
+      ...u ? { limits: { lower: E(u.getAttribute("lower"), 0), upper: E(u.getAttribute("upper"), 0) } } : {},
+      ...g ? { dynamics: g } : {}
+    };
+  });
+  return a.querySelector("transmission, gazebo") && n.droppedFeatures.push({ code: "UNSUPPORTED_URDF_EXTENSION", message: "URDF transmission/gazebo extensions are not compiled." }), at({ id: a.getAttribute("name") || e, name: a.getAttribute("name") || e, source: { format: "urdf", uri: e }, links: i, joints: f, diagnostics: n, extension: { files: r } });
+}
+function C(t) {
+  return t.rotationQuaternion ? new S(t.rotationQuaternion[0], t.rotationQuaternion[1], t.rotationQuaternion[2], t.rotationQuaternion[3]).normalize() : new S().setFromEuler(new G(...t.rotationRpy, "XYZ"));
+}
+function bt(t) {
+  if (t.rotationQuaternion) {
+    const [e, r, o, a] = t.rotationQuaternion;
+    return `quat="${a} ${e} ${r} ${o}"`;
+  }
+  return `euler="${t.rotationRpy.join(" ")}"`;
+}
+function T(t) {
+  const e = new P(), r = C(t);
+  return e.compose(new v().fromArray(t.position), r, new v(1, 1, 1));
+}
+function L(t) {
+  if (t.type === "continuous" || !t.limits) return 0;
+  const { lower: e, upper: r } = t.limits;
+  return !Number.isFinite(e) || !Number.isFinite(r) ? 0 : ft.clamp(0, e, r);
+}
+function gt(t) {
+  let e;
+  if (t.type === "box")
+    e = [t.size[0] / 2, t.size[1] / 2, t.size[2] / 2];
+  else if (t.type === "sphere")
+    e = [t.radius, t.radius, t.radius];
+  else if (t.type === "cylinder")
+    e = [t.radius, t.radius, t.length / 2];
+  else
+    return null;
+  const r = [];
+  for (const o of [-e[0], e[0]])
+    for (const a of [-e[1], e[1]])
+      for (const n of [-e[2], e[2]])
+        r.push(new v(o, a, n));
+  return r;
+}
+function rt(t, e, r) {
+  let o = 0;
+  const a = new Map(t.links.map((u) => [u.id, u])), n = (u) => {
+    let p = 1 / 0;
+    const d = (m, g) => {
+      const A = a.get(m);
+      if (A) {
+        for (const l of A.collisions) {
+          const c = gt(l.geometry);
+          if (!c) {
+            u && (o += 1);
+            continue;
+          }
+          const w = g.clone().multiply(T(l.origin));
+          for (const $ of c)
+            p = Math.min(p, $.applyMatrix4(w).z);
+        }
+        for (const l of r.get(m) ?? []) {
+          const c = g.clone().multiply(T(l.origin)), w = u ? L(l) : 0;
+          w && l.type === "revolute" ? c.multiply(new P().makeRotationAxis(new v().fromArray(l.axis).normalize(), w)) : w && l.type === "prismatic" && c.multiply(new P().makeTranslation(l.axis[0] * w, l.axis[1] * w, l.axis[2] * w)), d(l.child, c);
+        }
+      }
+    };
+    return d(e, new P()), p;
+  }, i = n(!0), f = n(!1), s = Math.min(i, f);
+  return o && t.diagnostics.warnings.push({
+    code: "GROUNDING_IGNORED_MESH_COLLIDERS",
+    message: `自动落地忽略了 ${o} 个网格碰撞体`
+  }), Number.isFinite(s) ? Math.max(0, 0.015 - s) : 0;
+}
+async function At(t) {
+  const e = t.extension.files, r = /* @__PURE__ */ new Map(), o = new Set(t.joints.map((l) => l.child));
+  for (const l of t.joints) r.set(l.parent, [...r.get(l.parent) ?? [], l]);
+  const a = t.links.filter((l) => !o.has(l.id));
+  if (a.length !== 1) throw R(`URDF requires exactly one root link; found ${a.length}.`, "E_URDF_COMPILE");
+  const n = rt(t, a[0].id, r);
+  n > 0 && t.diagnostics.approximations.push({
+    code: "AUTO_GROUNDED_FREE_ROOT",
+    message: `自由根初始高度自动抬升 ${n.toFixed(4)} m`
+  });
+  const i = t.joints.filter((l) => L(l) !== 0);
+  i.length && t.diagnostics.approximations.push({
+    code: "JOINT_REFERENCE_CLAMPED",
+    message: `${i.length} 个关节的默认参考值已夹到合法限位`
+  });
+  const f = /* @__PURE__ */ new Map(), s = /* @__PURE__ */ new Map(), u = [], p = async (l) => {
+    var q;
+    if (l.type === "box") return `type="box" size="${l.size.map((y) => y / 2).join(" ")}"`;
+    if (l.type === "sphere") return `type="sphere" size="${l.radius}"`;
+    if (l.type === "cylinder") return `type="cylinder" size="${l.radius} ${l.length / 2}"`;
+    if (l.type === "capsule") return `type="capsule" size="${l.radius} ${l.length / 2}"`;
+    const c = (q = l.resourcePath.split(".").pop()) == null ? void 0 : q.toLowerCase();
+    if (c !== "stl" && c !== "obj") return null;
+    const w = `${l.resourcePath}|${l.scale.join(" ")}`;
+    let $ = s.get(w);
+    if (!$) {
+      const y = { name: `mesh_${s.size}`, path: l.resourcePath, scale: l.scale };
+      s.set(w, y);
+      const F = await e.bytes(l.resourcePath);
+      f.set(`${y.name}.${c}`, F), $ = y;
+    }
+    return `type="mesh" mesh="${$.name}"`;
+  }, d = async (l, c) => {
+    var F, U;
+    const w = t.links.find((h) => h.id === l), $ = [...(c == null ? void 0 : c.origin.position) ?? [0, 0, 0]];
+    c || ($[2] += n);
+    const q = (c == null ? void 0 : c.origin) ?? { rotationRpy: [0, 0, 0] }, y = [`<body name="${Q(l)}" pos="${$.join(" ")}" ${bt(q)}>`];
+    if (w.inertial) {
+      const { origin: h, mass: D, tensor: b } = w.inertial, k = new X().setFromMatrix4(new P().makeRotationFromQuaternion(C(h))), O = new X().set(b[0], b[3], b[4], b[3], b[1], b[5], b[4], b[5], b[2]);
+      O.premultiply(k).multiply(k.clone().transpose());
+      const j = O.elements;
+      y.push(`<inertial pos="${h.position.join(" ")}" mass="${D}" fullinertia="${[j[0], j[4], j[8], j[3], j[6], j[7]].join(" ")}"/>`);
+    }
+    if (!c) y.push("<freejoint/>");
+    else if (["fixed", "planar", "floating"].includes(c.type))
+      (c == null ? void 0 : c.type) === "floating" && (y.push("<freejoint/>"), u.push(0, 0, 0, 1, 0, 0, 0));
+    else {
+      const h = c.type === "prismatic" ? "slide" : "hinge", D = c.type !== "continuous" && !!c.limits && Number.isFinite(c.limits.lower) && Number.isFinite(c.limits.upper), b = L(c);
+      u.push(b);
+      const k = ((F = c.dynamics) == null ? void 0 : F.damping) ?? 0, O = ((U = c.dynamics) == null ? void 0 : U.friction) ?? 0;
+      y.push(`<joint name="${Q(c.id)}" type="${h}" axis="${c.axis.join(" ")}"${D ? ` limited="true" range="${c.limits.lower} ${c.limits.upper}" ref="${b}"` : ""} damping="${k}" frictionloss="${O}"/>`);
+    }
+    for (const h of w.collisions) {
+      const D = await p(h.geometry);
+      if (D) {
+        const b = h.origin.rotationQuaternion ? ` quat="${[h.origin.rotationQuaternion[3], h.origin.rotationQuaternion[0], h.origin.rotationQuaternion[1], h.origin.rotationQuaternion[2]].join(" ")}"` : ` euler="${h.origin.rotationRpy.join(" ")}"`;
+        y.push(`<geom ${D} pos="${h.origin.position.join(" ")}"${b} rgba="0.55 0.62 0.59 1"/>`);
+      }
+    }
+    for (const h of r.get(l) ?? []) y.push(await d(h.child, h));
+    return y.push("</body>"), y.join("");
+  }, m = await d(a[0].id), g = [...s.values()].map((l) => {
+    var c;
+    return `<mesh name="${l.name}" file="${l.name}.${(c = l.path.split(".").pop()) == null ? void 0 : c.toLowerCase()}" scale="${l.scale.join(" ")}"/>`;
+  }).join(""), A = `<keyframe><key name="home" qpos="0 0 ${n} 1 0 0 0 ${u.join(" ")}"/></keyframe>`;
+  return {
+    format: "mjcf",
+    files: f,
+    xml: `<mujoco model="${Q(t.name)}"><compiler angle="radian" autolimits="true"/><option gravity="0 0 -9.81"/><asset>${g}</asset><worldbody><geom name="__viewer_default_ground__" type="plane" size="5 5 0.1" contype="1" conaffinity="1" friction="0.8 0.01 0.0002"/>${m}</worldbody>${A}</mujoco>`
+  };
+}
+async function $t(t) {
+  const e = await it(t), r = new Set(t.joints.map((s) => s.child)), o = t.links.filter((s) => !r.has(s.id));
+  if (o.length !== 1) throw R(`URDF requires exactly one root link; found ${o.length}.`, "E_URDF_COMPILE");
+  const a = /* @__PURE__ */ new Map();
+  for (const s of t.joints) a.set(s.parent, [...a.get(s.parent) ?? [], s]);
+  const n = e.bindings.get(o[0].id);
+  e.root.add(n);
+  const i = (s) => {
+    const u = e.bindings.get(s);
+    for (const p of a.get(s) ?? []) {
+      const d = e.bindings.get(p.child);
+      u.add(d), d.position.fromArray(p.origin.position), d.quaternion.copy(C(p.origin));
+      const m = L(p), g = new v().fromArray(p.axis).normalize();
+      m && (p.type === "revolute" || p.type === "continuous") ? d.quaternion.multiply(new S().setFromAxisAngle(g, m)) : m && p.type === "prismatic" && d.position.addScaledVector(g, m), i(p.child);
+    }
+  };
+  i(o[0].id);
+  const f = rt(t, o[0].id, a);
+  return f > 0 && (n.position.z += f), e.root.updateMatrixWorld(!0), e;
+}
+async function ot(t) {
+  const e = t.extension.files, r = new x();
+  r.name = "URDF authored collisions";
+  const o = /* @__PURE__ */ new Map(), a = lt();
+  let n = 0;
+  for (const i of t.links) {
+    const f = new x();
+    f.name = i.id, o.set(i.id, f), r.add(f);
+    for (const s of i.collisions) {
+      const u = new x();
+      if (u.matrixAutoUpdate = !1, u.matrix.copy(T(s.origin)), f.add(u), s.geometry.type === "mesh") {
+        const p = await nt(s.geometry, e, new K());
+        p.updateMatrixWorld(!0), p.traverse((d) => {
+          if (!(d instanceof M)) return;
+          const m = Z(d.geometry, a, "mesh");
+          m.matrixAutoUpdate = !1, m.matrix.copy(d.matrixWorld), m.name = `Collision:${i.id}`, m.userData.urdfLink = i.id, u.add(m), n += 1;
+        }), I(p);
+      } else {
+        const p = Et(s.geometry);
+        if (!p) continue;
+        const d = Z(p, a, "feature");
+        p.dispose(), d.name = `Collision:${i.id}`, d.userData.urdfLink = i.id, u.add(d), n += 1;
+      }
+    }
+  }
+  if (n === 0) {
+    a.dispose(), I(r);
+    return;
+  }
+  return { root: r, bindings: o, expectedLinkCount: o.size };
+}
+async function Rt(t, e) {
+  const r = await ot(t);
+  if (!r) return;
+  const o = () => {
+    e.root.updateMatrixWorld(!0);
+    for (const [a, n] of r.bindings) {
+      const i = e.bindings.get(a);
+      i && (n.matrixAutoUpdate = !1, n.matrix.copy(i.matrixWorld));
+    }
+    r.root.updateMatrixWorld(!0);
+  };
+  return o(), r.root.visible = !1, { root: r.root, sync: o, dispose() {
+    I(r.root);
+  } };
+}
+function Et(t) {
+  if (t.type === "box") return new H(...t.size);
+  if (t.type === "sphere") return new Y(t.radius, 24, 16);
+  if (t.type === "cylinder") {
+    const e = new tt(t.radius, t.radius, t.length, 24);
+    return e.rotateX(Math.PI / 2), e;
+  }
+  if (t.type === "capsule") {
+    const e = new et(t.radius, t.length, 8, 24);
+    return e.rotateX(Math.PI / 2), e;
+  }
+  return null;
+}
+async function it(t) {
+  const e = t.extension.files, r = new x();
+  r.name = t.name;
+  const o = /* @__PURE__ */ new Map();
+  for (const a of t.links) {
+    const n = new x();
+    n.name = a.id, o.set(a.id, n), r.add(n);
+    for (const i of a.visuals) {
+      const f = await Ft(i, e), s = new x();
+      s.position.fromArray(i.origin.position), s.quaternion.copy(C(i.origin)), s.add(f), n.add(s);
+    }
+  }
+  return { root: r, bindings: o, expectedLinkCount: t.links.length };
+}
+async function Ft(t, e) {
+  var o, a;
+  const r = new K({ color: t.color ? 16777215 : 11385011, opacity: ((o = t.color) == null ? void 0 : o[3]) ?? 1, transparent: (((a = t.color) == null ? void 0 : a[3]) ?? 1) < 1 });
+  return t.color && r.color.setRGB(t.color[0], t.color[1], t.color[2]), nt(t.geometry, e, r);
+}
+async function nt(t, e, r) {
+  var n;
+  if (t.type === "box") return new M(new H(...t.size), r);
+  if (t.type === "sphere") return new M(new Y(t.radius, 24, 16), r);
+  if (t.type === "cylinder") {
+    const i = new M(new tt(t.radius, t.radius, t.length, 24), r);
+    return i.quaternion.copy(new S().setFromEuler(new G(Math.PI / 2, 0, 0))), i;
+  }
+  if (t.type === "capsule") {
+    const i = new M(new et(t.radius, t.length, 8, 24), r);
+    return i.quaternion.copy(new S().setFromEuler(new G(Math.PI / 2, 0, 0))), i;
+  }
+  const o = (n = t.resourcePath.split(".").pop()) == null ? void 0 : n.toLowerCase();
+  await e.ensure(t.resourcePath);
+  let a;
+  if (o === "stl") a = new M(new ht().parse(await e.getBlob(t.resourcePath).arrayBuffer()), r);
+  else if (o === "obj")
+    a = new yt().parse(await e.getBlob(t.resourcePath).text()), a.traverse((i) => {
+      "material" in i && (i.material = r);
+    });
+  else if (o === "gltf" || o === "glb") {
+    const i = new dt();
+    i.setURLModifier((f) => {
+      try {
+        return e.objectUrl(e.resolve(f, t.resourcePath));
+      } catch {
+        return f;
+      }
+    }), a = (await new mt(i).parseAsync(await e.getBlob(t.resourcePath).arrayBuffer(), "")).scene;
+  } else throw R(`Unsupported URDF visual mesh: .${o ?? ""}`, "E_URDF_VISUAL");
+  return a.scale.fromArray(t.scale), a;
+}
+function Ut(t, e) {
+  const r = new DOMParser().parseFromString(t, "application/xml"), o = r.querySelector("parsererror");
+  if (o) throw R(`${e} XML parse failed: ${o.textContent ?? ""}`, `E_${e}_PARSE`);
+  return r;
+}
+function z(t, e) {
+  const r = t == null ? void 0 : t.getAttribute(e);
+  if (!r) throw R(`Missing ${e}.`, "E_URDF_PARSE");
+  return r;
+}
+function E(t, e) {
+  const r = Number(t);
+  return Number.isFinite(r) ? r : e;
+}
+function Q(t) {
+  return t.replaceAll("&", "&amp;").replaceAll('"', "&quot;").replaceAll("<", "&lt;").replaceAll(">", "&gt;");
+}
+function R(t, e) {
+  return Object.assign(new Error(t), { code: e });
+}
+function _t(t) {
+  var n;
+  const e = t.querySelector("inertial");
+  if (!e) return;
+  const r = e.querySelector("inertia"), o = Number((n = e.querySelector("mass")) == null ? void 0 : n.getAttribute("value")), a = ["ixx", "iyy", "izz", "ixy", "ixz", "iyz"].map((i) => Number(r == null ? void 0 : r.getAttribute(i)));
+  if (!(o > 0) || a.some((i) => !Number.isFinite(i))) throw R("Invalid URDF inertia.", "E_URDF_PARSE");
+  return { origin: N(e), mass: o, tensor: a };
+}
+async function Pt(t, e, r) {
+  var s, u, p, d, m, g, A;
+  const o = t.entryPath ?? t.filename ?? "asset.urdf";
+  (s = e.reportProgress) == null || s.call(e, "fetch", "正在读取模型描述与依赖资源...");
+  const a = await ct(t, r);
+  if (e.signal.aborted) throw B();
+  (u = e.reportProgress) == null || u.call(e, "parse", "正在解析 URDF 结构与连杆...");
+  const n = wt(a, o, r);
+  let i = null, f = null;
+  try {
+    if (!n.links.some((y) => y.inertial) && !n.diagnostics.errors.some((y) => y.code === "E_URDF_INERTIA"))
+      return (p = e.reportProgress) == null || p.call(e, "visual", "URDF 未声明动力学参数，正在构建运动学预览..."), await J(n);
+    try {
+      (d = e.reportProgress) == null || d.call(e, "compile", "正在编译物理碰撞体与惯性矩阵...");
+      const y = n.diagnostics.errors.find((h) => h.code === "E_URDF_INERTIA");
+      if (y) throw Object.assign(new Error(y.message), { code: y.code });
+      const F = await At(n);
+      if (e.signal.aborted) throw B();
+      (m = e.reportProgress) == null || m.call(e, "runtime", "正在初始化物理内核...");
+      const U = await import("./mujoco-runtime-s85kwjo7.js");
+      if (i = new U.MujocoRuntime(), await i.initialize(F, e.options.mujocoBaseUrl), e.signal.aborted) throw B();
+    } catch (y) {
+      const F = pt(y, e.signal, "urdf-physics");
+      i == null || i.dispose(), i = null;
+      const U = F;
+      return n.diagnostics.droppedFeatures.push(U), (g = e.reportProgress) == null || g.call(e, "visual", "URDF 物理仿真不可用，正在构建运动学视觉预览..."), await J(n, U);
+    }
+    (A = e.reportProgress) == null || A.call(e, "visual", "正在构建视觉渲染网格...");
+    const l = await it(n);
+    f = new V(i, l);
+    const c = await ot(n), w = c ? new V(i, c) : void 0, $ = i, q = f;
+    return i = null, f = null, st(n, q, !0, $, void 0, w);
+  } catch (l) {
+    throw f == null || f.dispose(), i == null || i.dispose(), l;
+  }
+}
+async function J(t, e) {
+  const r = await $t(t), o = r.root, a = { root: o, sync() {
+  }, dispose() {
+    I(o);
+  } }, n = await Rt(t, r);
+  return st(t, a, !1, void 0, e, n);
+}
+function st(t, e, r, o, a, n) {
+  let i = !1;
+  return {
+    asset: t,
+    binding: e,
+    hasPhysics: r,
+    runtime: o,
+    fallback: a,
+    collision: n,
+    step(f) {
+      if (!o) return !1;
+      const s = o.step(f);
+      return s && e.sync(), s;
+    },
+    reset() {
+      o == null || o.reset(), e.sync();
+    },
+    dispose() {
+      i || (i = !0, n == null || n.dispose(), e.dispose(), o == null || o.dispose());
+    }
+  };
+}
+function B() {
+  return Object.assign(new Error("Simulation load aborted."), { name: "AbortError", code: "E_ABORTED" });
+}
+export {
+  Pt as loadUrdfSimulation
+};