ss-component-new 1.2.111 → 1.2.113

package/dist/{URDFLoader-VSdgVBcE.js → URDFLoader-DFaB1rOB.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-hWX_D7j7.js";
-import { c1 as vn, bl as Rn, aX as lt, b9 as At, aY as In, _ as pe, al as he, bv as dt, a0 as Mn, bi as Tt, a1 as ut, am as Le, bC as ft, c2 as Sn, ah as ve, bL as Se, a6 as me, bb as Gn, ai as On, b5 as Pn, a2 as ht, bA as qn, ad as jn, bd as Fn, ag as Un, ae as Hn, aK as pt, bf as Et, bI as mt, bK as Bn, aN as Dn, aZ as ye, bD as zn, b3 as bt, bx as Vn, ac as Ce, aP as Jn, by as Kn, bB as Wn, br as Ge, bt as gt, c3 as Yn, c4 as Xn, c5 as yt, c6 as $n, c7 as Zn, c8 as Qn, c9 as ei, b1 as ti, ca as ni, cb as ii, ak as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dgy71NC0.js";
+import { S as Ln } from "./MTLLoader-CxvMDUe0.js";
+import { bU as vn, bl as Rn, aX as lt, b9 as At, aY as In, _ as pe, al as he, bv as dt, a0 as Mn, bi as Tt, a1 as ut, am as Le, bC as ft, bV as Sn, ah as ve, bL as Se, a6 as me, bb as Gn, ai as On, b5 as Pn, a2 as ht, bA as qn, ad as Un, bd as jn, ag as Fn, ae as Hn, aK as pt, bf as Et, bI as mt, bK as Bn, aN as Dn, aZ as ye, bD as zn, b3 as bt, bx as Vn, ac as Ce, aP as Jn, by as Kn, bB as Wn, br as Ge, bt as gt, bW as Yn, bX as Xn, bY as yt, bZ as $n, b_ as Zn, b$ as Qn, c0 as ei, b1 as ti, c1 as ni, c2 as ii, ak as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DV9lk-8w.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
@@ -45,10 +45,10 @@ class wt extends vn {
         throw new Error("THREE.TGALoader: Invalid pixel size " + u.pixel_size);
     }
     function R(u, W, z, B, X) {
-      let F, D;
+      let j, D;
       const _ = z.pixel_size >> 3, x = z.width * z.height * _;
       if (W && (D = X.subarray(B, B += z.colormap_length * (z.colormap_size >> 3))), u) {
-        F = new Uint8Array(x);
+        j = new Uint8Array(x);
         let N, f, A, V = 0;
         const le = new Uint8Array(_);
         for (; V < x; )
@@ -56,96 +56,96 @@ class wt extends vn {
             for (A = 0; A < _; ++A)
               le[A] = X[B++];
             for (A = 0; A < f; ++A)
-              F.set(le, V + A * _);
+              j.set(le, V + A * _);
             V += _ * f;
           } else {
             for (f *= _, A = 0; A < f; ++A)
-              F[V + A] = X[B++];
+              j[V + A] = X[B++];
             V += f;
           }
       } else
-        F = X.subarray(
+        j = X.subarray(
           B,
           B += W ? z.width * z.height : x
         );
       return {
-        pixel_data: F,
+        pixel_data: j,
         palettes: D
       };
     }
-    function se(u, W, z, B, X, F, D, _, x) {
+    function se(u, W, z, B, X, j, D, _, x) {
       const N = x;
       let f, A = 0, V, le;
       const Ae = C.width;
       for (le = W; le !== B; le += z)
-        for (V = X; V !== D; V += F, A++)
+        for (V = X; V !== D; V += j, A++)
           f = _[A], u[(V + Ae * le) * 4 + 3] = 255, u[(V + Ae * le) * 4 + 2] = N[f * 3 + 0], u[(V + Ae * le) * 4 + 1] = N[f * 3 + 1], u[(V + Ae * le) * 4 + 0] = N[f * 3 + 2];
       return u;
     }
-    function v(u, W, z, B, X, F, D, _) {
+    function v(u, W, z, B, X, j, D, _) {
       let x, N = 0, f, A;
       const V = C.width;
       for (A = W; A !== B; A += z)
-        for (f = X; f !== D; f += F, N += 2)
+        for (f = X; f !== D; f += j, N += 2)
           x = _[N + 0] + (_[N + 1] << 8), u[(f + V * A) * 4 + 0] = (x & 31744) >> 7, u[(f + V * A) * 4 + 1] = (x & 992) >> 2, u[(f + V * A) * 4 + 2] = (x & 31) << 3, u[(f + V * A) * 4 + 3] = x & 32768 ? 0 : 255;
       return u;
     }
-    function oe(u, W, z, B, X, F, D, _) {
+    function oe(u, W, z, B, X, j, D, _) {
       let x = 0, N, f;
       const A = C.width;
       for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += F, x += 3)
+        for (N = X; N !== D; N += j, x += 3)
           u[(N + A * f) * 4 + 3] = 255, u[(N + A * f) * 4 + 2] = _[x + 0], u[(N + A * f) * 4 + 1] = _[x + 1], u[(N + A * f) * 4 + 0] = _[x + 2];
       return u;
     }
-    function I(u, W, z, B, X, F, D, _) {
+    function I(u, W, z, B, X, j, D, _) {
       let x = 0, N, f;
       const A = C.width;
       for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += F, x += 4)
+        for (N = X; N !== D; N += j, x += 4)
           u[(N + A * f) * 4 + 2] = _[x + 0], u[(N + A * f) * 4 + 1] = _[x + 1], u[(N + A * f) * 4 + 0] = _[x + 2], u[(N + A * f) * 4 + 3] = _[x + 3];
       return u;
     }
-    function Y(u, W, z, B, X, F, D, _) {
+    function Y(u, W, z, B, X, j, D, _) {
       let x, N = 0, f, A;
       const V = C.width;
       for (A = W; A !== B; A += z)
-        for (f = X; f !== D; f += F, N++)
+        for (f = X; f !== D; f += j, N++)
           x = _[N], u[(f + V * A) * 4 + 0] = x, u[(f + V * A) * 4 + 1] = x, u[(f + V * A) * 4 + 2] = x, u[(f + V * A) * 4 + 3] = 255;
       return u;
     }
-    function ne(u, W, z, B, X, F, D, _) {
+    function ne(u, W, z, B, X, j, D, _) {
       let x = 0, N, f;
       const A = C.width;
       for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += F, x += 2)
+        for (N = X; N !== D; N += j, x += 2)
           u[(N + A * f) * 4 + 0] = _[x + 0], u[(N + A * f) * 4 + 1] = _[x + 0], u[(N + A * f) * 4 + 2] = _[x + 0], u[(N + A * f) * 4 + 3] = _[x + 1];
       return u;
     }
     function we(u, W, z, B, X) {
-      let F, D, _, x, N, f;
+      let j, D, _, x, N, f;
       switch ((C.flags & M) >> q) {
         default:
         case J:
-          F = 0, _ = 1, N = W, D = 0, x = 1, f = z;
+          j = 0, _ = 1, N = W, D = 0, x = 1, f = z;
           break;
-        case U:
-          F = 0, _ = 1, N = W, D = z - 1, x = -1, f = -1;
+        case F:
+          j = 0, _ = 1, N = W, D = z - 1, x = -1, f = -1;
           break;
         case S:
-          F = W - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
+          j = W - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
           break;
         case E:
-          F = W - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
+          j = W - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
           break;
       }
-      if (j)
+      if (U)
         switch (C.pixel_size) {
           case 8:
-            Y(u, D, x, f, F, _, N, B);
+            Y(u, D, x, f, j, _, N, B);
             break;
           case 16:
-            ne(u, D, x, f, F, _, N, B);
+            ne(u, D, x, f, j, _, N, B);
             break;
           default:
             throw new Error("THREE.TGALoader: Format not supported.");
@@ -153,23 +153,23 @@ class wt extends vn {
       else
         switch (C.pixel_size) {
           case 8:
-            se(u, D, x, f, F, _, N, B, X);
+            se(u, D, x, f, j, _, N, B, X);
             break;
           case 16:
-            v(u, D, x, f, F, _, N, B);
+            v(u, D, x, f, j, _, N, B);
             break;
           case 24:
-            oe(u, D, x, f, F, _, N, B);
+            oe(u, D, x, f, j, _, N, B);
             break;
           case 32:
-            I(u, D, x, f, F, _, N, B);
+            I(u, D, x, f, j, _, N, B);
             break;
           default:
             throw new Error("THREE.TGALoader: Format not supported.");
         }
       return u;
     }
-    const ke = 0, Ne = 1, $ = 2, ie = 3, ee = 9, be = 10, ge = 11, M = 48, q = 4, U = 0, E = 1, J = 2, S = 3;
+    const ke = 0, Ne = 1, $ = 2, ie = 3, ee = 9, be = 10, ge = 11, M = 48, q = 4, F = 0, E = 1, J = 2, S = 3;
     if (G.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
     let m = 0;
     const h = new Uint8Array(G), C = {
@@ -191,7 +191,7 @@ class wt extends vn {
     if (Q(C), C.id_length + m > G.length)
       throw new Error("THREE.TGALoader: No data.");
     m += C.id_length;
-    let L = !1, k = !1, j = !1;
+    let L = !1, k = !1, U = !1;
     switch (C.image_type) {
       case ee:
         L = !0, k = !0;
@@ -205,10 +205,10 @@ class wt extends vn {
       case $:
         break;
       case ge:
-        L = !0, j = !0;
+        L = !0, U = !0;
         break;
       case ie:
-        j = !0;
+        U = !0;
         break;
     }
     const ae = new Uint8Array(C.width * C.height * 4), te = R(L, k, C, m, h);
@@ -390,7 +390,7 @@ class oi extends lt {
         }
       return e;
     }
-    function U(t) {
+    function F(t) {
       return ee(T.animations[t], q);
     }
     function E(t, e, i) {
@@ -459,7 +459,7 @@ class oi extends lt {
       for (let s = 0, o = t.length; s < o; s++) {
         const r = t[s];
         if (r.value[e] === null) {
-          if (i = j(t, s, e), n = ae(t, s, e), i === null) {
+          if (i = U(t, s, e), n = ae(t, s, e), i === null) {
             r.value[e] = n.value[e];
             continue;
           }
@@ -471,7 +471,7 @@ class oi extends lt {
         }
       }
     }
-    function j(t, e, i) {
+    function U(t, e, i) {
       for (; e >= 0; ) {
         const n = t[e];
         if (n.value[i] !== null) return n;
@@ -515,7 +515,7 @@ class oi extends lt {
     function W(t) {
       const e = [], i = t.name, n = t.end - t.start || -1, s = t.animations;
       for (let o = 0, r = s.length; o < r; o++) {
-        const d = U(s[o]);
+        const d = F(s[o]);
         for (let c = 0, l = d.length; c < l; c++)
           e.push(d[c]);
       }
@@ -556,7 +556,7 @@ class oi extends lt {
               e.sources[o] = Oe(s);
               break;
             case "joints":
-              e.joints = F(s);
+              e.joints = j(s);
               break;
             case "vertex_weights":
               e.vertexWeights = D(s);
@@ -565,7 +565,7 @@ class oi extends lt {
       }
       return e;
     }
-    function F(t) {
+    function j(t) {
       const e = {
         inputs: {}
       };
@@ -767,19 +767,19 @@ class oi extends lt {
             case "ambient":
             case "shininess":
             case "transparency":
-              e[s.nodeName] = Ue(s);
+              e[s.nodeName] = Fe(s);
               break;
             case "transparent":
               e[s.nodeName] = {
                 opaque: s.hasAttribute("opaque") ? s.getAttribute("opaque") : "A_ONE",
-                data: Ue(s)
+                data: Fe(s)
               };
               break;
           }
       }
       return e;
     }
-    function Ue(t) {
+    function Fe(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -912,7 +912,7 @@ class oi extends lt {
       let e, i = t.slice((t.lastIndexOf(".") - 1 >>> 0) + 2);
       switch (i = i.toLowerCase(), i) {
         case "tga":
-          e = je;
+          e = Ue;
           break;
         default:
           e = rt;
@@ -1042,36 +1042,36 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "optics":
-              e.optics = jt(s);
+              e.optics = Ut(s);
               break;
           }
       }
       T.cameras[t.getAttribute("id")] = e;
     }
-    function jt(t) {
+    function Ut(t) {
       for (let e = 0; e < t.childNodes.length; e++) {
         const i = t.childNodes[e];
         switch (i.nodeName) {
           case "technique_common":
-            return Ft(i);
+            return jt(i);
         }
       }
       return {};
     }
-    function Ft(t) {
+    function jt(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
         switch (n.nodeName) {
           case "perspective":
           case "orthographic":
-            e.technique = n.nodeName, e.parameters = Ut(n);
+            e.technique = n.nodeName, e.parameters = Ft(n);
             break;
         }
       }
       return e;
     }
-    function Ut(t) {
+    function Ft(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
@@ -1179,13 +1179,13 @@ class oi extends lt {
           e = new Hn();
           break;
         case "point":
-          e = new Un();
+          e = new Fn();
           break;
         case "spot":
-          e = new Fn();
+          e = new jn();
           break;
         case "ambient":
-          e = new jn();
+          e = new Un();
           break;
       }
       return t.parameters.color && e.color.copy(t.parameters.color), t.parameters.distance && (e.distance = t.parameters.distance), e;
@@ -2036,7 +2036,7 @@ class oi extends lt {
         if (ne(T.animations) === !1) {
           const e = [];
           for (const i in T.animations) {
-            const n = U(i);
+            const n = F(i);
             for (let s = 0, o = n.length; s < o; s++)
               e.push(n[s]);
           }
@@ -2069,8 +2069,8 @@ class oi extends lt {
     console.debug("THREE.ColladaLoader: File version", xn);
     const ot = we(R(Z, "asset")[0]), rt = new Tt(this.manager);
     rt.setPath(this.resourcePath || Q).setCrossOrigin(this.crossOrigin);
-    let je;
-    wt && (je = new wt(this.manager), je.setPath(this.resourcePath || Q));
+    let Ue;
+    wt && (Ue = new wt(this.manager), Ue.setPath(this.resourcePath || Q));
     const Re = new ut(), Ie = [];
     let at = {}, _n = 0;
     const T = {
@@ -2101,12 +2101,12 @@ class oi extends lt {
     };
   }
 }
-const Fe = new Et(), kt = new si();
+const je = new Et(), kt = new si();
 function _e(ue) {
   return ue ? ue.trim().split(/\s+/g).map((G) => parseFloat(G)) : [0, 0, 0];
 }
 function Nt(ue, G, Q = !1) {
-  Q || ue.rotation.set(0, 0, 0), kt.set(G[0], G[1], G[2], "ZYX"), Fe.setFromEuler(kt), Fe.multiply(ue.quaternion), ue.quaternion.copy(Fe);
+  Q || ue.rotation.set(0, 0, 0), kt.set(G[0], G[1], G[2], "ZYX"), je.setFromEuler(kt), je.multiply(ue.quaternion), ue.quaternion.copy(je);
 }
 class ci {
   constructor(G) {
@@ -2138,30 +2138,30 @@ class ci {
     function ke(M) {
       if (!/^package:\/\//.test(M))
         return Q ? Q + M : M;
-      const [q, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [q, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(q) ? R + "/" + U : R + "/" + q + "/" + U;
+        return R.endsWith(q) ? R + "/" + F : R + "/" + q + "/" + F;
       if (R instanceof Function)
-        return R(q) + "/" + U;
+        return R(q) + "/" + F;
       if (typeof R == "object")
-        return q in R ? R[q] + "/" + U : (console.error(`URDFLoader : ${q} not found in provided package list.`), null);
+        return q in R ? R[q] + "/" + F : (console.error(`URDFLoader : ${q} not found in provided package list.`), null);
     }
     function Ne(M) {
       let q;
       M instanceof Document ? q = [...M.children] : M instanceof Element ? q = [M] : q = [...new DOMParser().parseFromString(M, "text/xml").children];
-      const U = q.filter((E) => E.nodeName === "robot").pop();
-      return $(U);
+      const F = q.filter((E) => E.nodeName === "robot").pop();
+      return $(F);
     }
     function $(M) {
-      const q = [...M.children], U = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      const q = [...M.children], F = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
         const k = L.getAttribute("name");
         we[k] = be(L);
       });
       const m = {}, h = {};
-      U.forEach((L) => {
-        const k = L.getAttribute("name"), j = M.querySelector(`child[link="${k}"]`) === null;
-        Y[k] = ee(L, m, h, j ? S : null);
+      F.forEach((L) => {
+        const k = L.getAttribute("name"), U = M.querySelector(`child[link="${k}"]`) === null;
+        Y[k] = ee(L, m, h, U ? S : null);
       }), E.forEach((L) => {
         const k = L.getAttribute("name");
         ne[k] = ie(L);
@@ -2170,14 +2170,14 @@ class ci {
       return C.forEach((L) => {
         L instanceof yt && ne[L.mimicJoint].mimicJoints.push(L);
       }), C.forEach((L) => {
-        const k = /* @__PURE__ */ new Set(), j = (ae) => {
+        const k = /* @__PURE__ */ new Set(), U = (ae) => {
           if (k.has(ae))
             throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");
           k.add(ae), ae.mimicJoints.forEach((te) => {
-            j(te);
+            U(te);
           });
         };
-        j(L);
+        U(L);
       }), S.frames = {
         ...h,
         ...m,
@@ -2186,23 +2186,23 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const q = [...M.children], U = M.getAttribute("type");
+      const q = [...M.children], F = M.getAttribute("type");
       let E;
       const J = q.find((k) => k.nodeName.toLowerCase() === "mimic");
-      J ? (E = new yt(), E.mimicJoint = J.getAttribute("joint"), E.multiplier = parseFloat(J.getAttribute("multiplier") || 1), E.offset = parseFloat(J.getAttribute("offset") || 0)) : E = new $n(), E.urdfNode = M, E.name = M.getAttribute("name"), E.urdfName = E.name, E.jointType = U;
+      J ? (E = new yt(), E.mimicJoint = J.getAttribute("joint"), E.multiplier = parseFloat(J.getAttribute("multiplier") || 1), E.offset = parseFloat(J.getAttribute("offset") || 0)) : E = new $n(), E.urdfNode = M, E.name = M.getAttribute("name"), E.urdfName = E.name, E.jointType = F;
       let S = null, m = null, h = [0, 0, 0], C = [0, 0, 0];
       q.forEach((k) => {
-        const j = k.nodeName.toLowerCase();
-        j === "origin" ? (h = _e(k.getAttribute("xyz")), C = _e(k.getAttribute("rpy"))) : j === "child" ? m = Y[k.getAttribute("link")] : j === "parent" ? S = Y[k.getAttribute("link")] : j === "limit" && (E.limit.lower = parseFloat(k.getAttribute("lower") || E.limit.lower), E.limit.upper = parseFloat(k.getAttribute("upper") || E.limit.upper));
+        const U = k.nodeName.toLowerCase();
+        U === "origin" ? (h = _e(k.getAttribute("xyz")), C = _e(k.getAttribute("rpy"))) : U === "child" ? m = Y[k.getAttribute("link")] : U === "parent" ? S = Y[k.getAttribute("link")] : U === "limit" && (E.limit.lower = parseFloat(k.getAttribute("lower") || E.limit.lower), E.limit.upper = parseFloat(k.getAttribute("upper") || E.limit.upper));
       }), S.add(E), E.add(m), Nt(E, C), E.position.set(h[0], h[1], h[2]);
       const L = q.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
       if (L) {
-        const k = L.getAttribute("xyz").split(/\s+/g).map((j) => parseFloat(j));
+        const k = L.getAttribute("xyz").split(/\s+/g).map((U) => parseFloat(U));
         E.axis = new pe(k[0], k[1], k[2]), E.axis.normalize();
       }
       return E;
     }
-    function ee(M, q, U, E = null) {
+    function ee(M, q, F, E = null) {
       E === null && (E = new Zn());
       const J = [...M.children];
       return E.name = M.getAttribute("name"), E.urdfName = E.name, E.urdfNode = M, v && J.filter((m) => m.nodeName.toLowerCase() === "visual").forEach((m) => {
@@ -2215,28 +2215,28 @@ class ci {
         const h = ge(m);
         if (E.add(h), m.hasAttribute("name")) {
           const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, U[C] = h;
+          h.name = C, h.urdfName = C, F[C] = h;
         }
       }), E;
     }
     function be(M) {
-      const q = [...M.children], U = new ve();
-      return U.name = M.getAttribute("name") || "", q.forEach((E) => {
+      const q = [...M.children], F = new ve();
+      return F.name = M.getAttribute("name") || "", q.forEach((E) => {
         const J = E.nodeName.toLowerCase();
         if (J === "color") {
           const S = E.getAttribute("rgba").split(/\s/g).map((m) => parseFloat(m));
-          U.color.setRGB(S[0], S[1], S[2]), U.opacity = S[3], U.transparent = S[3] < 1, U.depthWrite = !U.transparent;
+          F.color.setRGB(S[0], S[1], S[2]), F.opacity = S[3], F.transparent = S[3] < 1, F.depthWrite = !F.transparent;
         } else if (J === "texture") {
           const S = E.getAttribute("filename");
           if (S) {
             const m = new Tt(I), h = ke(S);
-            U.map = m.load(h), U.map.colorSpace = me;
+            F.map = m.load(h), F.map.colorSpace = me;
           }
         }
-      }), U;
+      }), F;
     }
     function ge(M, q = {}) {
-      const U = M.nodeName.toLowerCase() === "collision", E = [...M.children];
+      const F = M.nodeName.toLowerCase() === "collision", E = [...M.children];
       let J = null;
       const S = E.filter((h) => h.nodeName.toLowerCase() === "material")[0];
       if (S) {
@@ -2244,38 +2244,38 @@ class ci {
         h && h in q ? J = q[h] : J = be(S);
       } else
         J = new ve();
-      const m = U ? new Qn() : new ei();
+      const m = F ? new Qn() : new ei();
       return m.urdfNode = M, E.forEach((h) => {
         const C = h.nodeName.toLowerCase();
         if (C === "geometry") {
           const L = h.children[0].nodeName.toLowerCase();
           if (L === "mesh") {
-            const k = h.children[0].getAttribute("filename"), j = ke(k);
-            if (j !== null) {
+            const k = h.children[0].getAttribute("filename"), U = ke(k);
+            if (U !== null) {
               const ae = h.children[0].getAttribute("scale");
               if (ae) {
                 const te = _e(ae);
                 m.scale.set(te[0], te[1], te[2]);
               }
-              se(j, I, (te, u) => {
+              se(U, I, (te, u) => {
                 u ? console.error("URDFLoader: Error loading mesh.", u) : te && (te instanceof Ce && (te.material = J), te.position.set(0, 0, 0), te.quaternion.identity(), m.add(te));
               });
             }
           } else if (L === "box") {
             const k = new Ce();
             k.geometry = new ti(1, 1, 1), k.material = J;
-            const j = _e(h.children[0].getAttribute("size"));
-            k.scale.set(j[0], j[1], j[2]), m.add(k);
+            const U = _e(h.children[0].getAttribute("size"));
+            k.scale.set(U[0], U[1], U[2]), m.add(k);
           } else if (L === "sphere") {
             const k = new Ce();
             k.geometry = new ni(1, 30, 30), k.material = J;
-            const j = parseFloat(h.children[0].getAttribute("radius")) || 0;
-            k.scale.set(j, j, j), m.add(k);
+            const U = parseFloat(h.children[0].getAttribute("radius")) || 0;
+            k.scale.set(U, U, U), m.add(k);
           } else if (L === "cylinder") {
             const k = new Ce();
             k.geometry = new ii(1, 1, 1, 30), k.material = J;
-            const j = parseFloat(h.children[0].getAttribute("radius")) || 0, ae = parseFloat(h.children[0].getAttribute("length")) || 0;
-            k.scale.set(j, ae, j), k.rotation.set(Math.PI / 2, 0, 0), m.add(k);
+            const U = parseFloat(h.children[0].getAttribute("radius")) || 0, ae = parseFloat(h.children[0].getAttribute("length")) || 0;
+            k.scale.set(U, ae, U), k.rotation.set(Math.PI / 2, 0, 0), m.add(k);
           }
         } else if (C === "origin") {
           const L = _e(h.getAttribute("xyz")), k = _e(h.getAttribute("rpy"));