ss-component-new 1.2.77 → 1.2.78

package/dist/{URDFLoader-DWo3pDBH.js → URDFLoader-B-_NDbTy.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-BruI0iCV.js";
-import { bY as vn, bg as Rn, aS as lt, b4 as At, aT as In, V as pe, ag as he, bq as dt, X as Mn, bd as Tt, Y as ut, ah as Le, bx as ft, bZ as Sn, ac as ve, bG as Se, a1 as me, b6 as Gn, ad as On, b0 as qn, Z as ht, bv as Fn, a8 as Pn, b8 as Un, ab as jn, a9 as Hn, aF as pt, ba as Et, bD as mt, bF as Bn, aI as Dn, aU as ye, by as zn, a_ as bt, bs as Vn, a7 as Ce, aK as Jn, bt as Kn, bw as Wn, bm as Ge, bo as gt, b_ as Yn, b$ as Xn, c0 as yt, c1 as $n, c2 as Zn, c3 as Qn, c4 as ei, aY as ti, c5 as ni, c6 as ii, af as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Bqxa7GJA.js";
+import { S as Ln } from "./MTLLoader-BDMG6YfL.js";
+import { bZ as vn, bh as Rn, aT as lt, b5 as At, aU as In, W as pe, ah as he, br as dt, Y as Mn, be as Tt, Z as ut, ai as Le, by as ft, b_ as Sn, ad as ve, bH as Se, a2 as me, b7 as Gn, ae as On, b1 as qn, _ as ht, bw as Pn, a9 as Un, b9 as jn, ac as Fn, aa as Hn, aG as pt, bb as Et, bE as mt, bG as Bn, aJ as zn, aV as ye, bz as Dn, a$ as bt, bt as Vn, a8 as Ce, aL as Jn, bu as Wn, bx as Kn, bn as Ge, bp as gt, b$ as Yn, c0 as Xn, c1 as yt, c2 as $n, c3 as Zn, c4 as Qn, c5 as ei, aZ as ti, c6 as ni, c7 as ii, ag as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Jb-pxYCE.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
@@ -44,11 +44,11 @@ class wt extends vn {
       if (u.pixel_size !== 8 && u.pixel_size !== 16 && u.pixel_size !== 24 && u.pixel_size !== 32)
         throw new Error("THREE.TGALoader: Invalid pixel size " + u.pixel_size);
     }
-    function R(u, W, z, B, X) {
-      let U, 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) {
-        U = new Uint8Array(x);
+    function R(u, K, D, B, X) {
+      let j, z;
+      const _ = D.pixel_size >> 3, x = D.width * D.height * _;
+      if (K && (z = X.subarray(B, B += D.colormap_length * (D.colormap_size >> 3))), u) {
+        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)
-              U.set(le, V + A * _);
+              j.set(le, V + A * _);
             V += _ * f;
           } else {
             for (f *= _, A = 0; A < f; ++A)
-              U[V + A] = X[B++];
+              j[V + A] = X[B++];
             V += f;
           }
       } else
-        U = X.subarray(
+        j = X.subarray(
           B,
-          B += W ? z.width * z.height : x
+          B += K ? D.width * D.height : x
         );
       return {
-        pixel_data: U,
-        palettes: D
+        pixel_data: j,
+        palettes: z
       };
     }
-    function se(u, W, z, B, X, U, D, _, x) {
+    function se(u, K, D, B, X, j, z, _, 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 += U, A++)
+      for (le = K; le !== B; le += D)
+        for (V = X; V !== z; 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, U, D, _) {
+    function v(u, K, D, B, X, j, z, _) {
       let x, N = 0, f, A;
       const V = C.width;
-      for (A = W; A !== B; A += z)
-        for (f = X; f !== D; f += U, N += 2)
+      for (A = K; A !== B; A += D)
+        for (f = X; f !== z; 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, U, D, _) {
+    function oe(u, K, D, B, X, j, z, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += U, x += 3)
+      for (f = K; f !== B; f += D)
+        for (N = X; N !== z; 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, U, D, _) {
+    function I(u, K, D, B, X, j, z, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += U, x += 4)
+      for (f = K; f !== B; f += D)
+        for (N = X; N !== z; 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, U, D, _) {
+    function Y(u, K, D, B, X, j, z, _) {
       let x, N = 0, f, A;
       const V = C.width;
-      for (A = W; A !== B; A += z)
-        for (f = X; f !== D; f += U, N++)
+      for (A = K; A !== B; A += D)
+        for (f = X; f !== z; 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, U, D, _) {
+    function ne(u, K, D, B, X, j, z, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += U, x += 2)
+      for (f = K; f !== B; f += D)
+        for (N = X; N !== z; 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 U, D, _, x, N, f;
-      switch ((C.flags & M) >> F) {
+    function we(u, K, D, B, X) {
+      let j, z, _, x, N, f;
+      switch ((C.flags & M) >> P) {
         default:
         case J:
-          U = 0, _ = 1, N = W, D = 0, x = 1, f = z;
+          j = 0, _ = 1, N = K, z = 0, x = 1, f = D;
           break;
-        case j:
-          U = 0, _ = 1, N = W, D = z - 1, x = -1, f = -1;
+        case F:
+          j = 0, _ = 1, N = K, z = D - 1, x = -1, f = -1;
           break;
         case S:
-          U = W - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
+          j = K - 1, _ = -1, N = -1, z = 0, x = 1, f = D;
           break;
         case E:
-          U = W - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
+          j = K - 1, _ = -1, N = -1, z = D - 1, x = -1, f = -1;
           break;
       }
-      if (P)
+      if (U)
         switch (C.pixel_size) {
           case 8:
-            Y(u, D, x, f, U, _, N, B);
+            Y(u, z, x, f, j, _, N, B);
             break;
           case 16:
-            ne(u, D, x, f, U, _, N, B);
+            ne(u, z, 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, U, _, N, B, X);
+            se(u, z, x, f, j, _, N, B, X);
             break;
           case 16:
-            v(u, D, x, f, U, _, N, B);
+            v(u, z, x, f, j, _, N, B);
             break;
           case 24:
-            oe(u, D, x, f, U, _, N, B);
+            oe(u, z, x, f, j, _, N, B);
             break;
           case 32:
-            I(u, D, x, f, U, _, N, B);
+            I(u, z, 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, F = 4, j = 0, E = 1, J = 2, S = 3;
+    const ke = 0, Ne = 1, $ = 2, ie = 3, ee = 9, be = 10, ge = 11, M = 48, P = 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, P = !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, P = !0;
+        L = !0, U = !0;
         break;
       case ie:
-        P = !0;
+        U = !0;
         break;
     }
     const ae = new Uint8Array(C.width * C.height * 4), te = R(L, k, C, m, h);
@@ -381,7 +381,7 @@ class oi extends lt {
       }
       return e.id = s, e.sid = o, e.arraySyntax = r, e.memberSyntax = d, e.sampler = I(t.getAttribute("source")), e;
     }
-    function F(t) {
+    function P(t) {
       const e = [], i = t.channels, n = t.samplers, s = t.sources;
       for (const o in i)
         if (i.hasOwnProperty(o)) {
@@ -390,8 +390,8 @@ class oi extends lt {
         }
       return e;
     }
-    function j(t) {
-      return ee(T.animations[t], F);
+    function F(t) {
+      return ee(T.animations[t], P);
     }
     function E(t, e, i) {
       const n = T.nodes[t.id], s = Ee(n.id), o = n.transforms[t.sid], r = n.matrix.clone().transpose();
@@ -401,8 +401,8 @@ class oi extends lt {
         case "matrix":
           for (l = 0, g = e.array.length; l < g; l++)
             if (d = e.array[l], c = l * i.stride, p[d] === void 0 && (p[d] = {}), t.arraySyntax === !0) {
-              const K = i.array[c], H = t.indices[0] + 4 * t.indices[1];
-              p[d][H] = K;
+              const W = i.array[c], H = t.indices[0] + 4 * t.indices[1];
+              p[d][H] = W;
             } else
               for (a = 0, b = i.stride; a < b; a++)
                 p[d][a] = i.array[c + a];
@@ -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 = P(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 P(t, e, i) {
+    function U(t, e, i) {
       for (; e >= 0; ) {
         const n = t[e];
         if (n.value[i] !== null) return n;
@@ -512,17 +512,17 @@ class oi extends lt {
       }
       T.clips[t.getAttribute("id")] = e;
     }
-    function W(t) {
+    function K(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 = j(s[o]);
+        const d = F(s[o]);
         for (let c = 0, l = d.length; c < l; c++)
           e.push(d[c]);
       }
       return new ft(i, n, e);
     }
-    function z(t) {
-      return ee(T.clips[t], W);
+    function D(t) {
+      return ee(T.clips[t], K);
     }
     function B(t) {
       const e = {};
@@ -556,16 +556,16 @@ class oi extends lt {
               e.sources[o] = Oe(s);
               break;
             case "joints":
-              e.joints = U(s);
+              e.joints = j(s);
               break;
             case "vertex_weights":
-              e.vertexWeights = D(s);
+              e.vertexWeights = z(s);
               break;
           }
       }
       return e;
     }
-    function U(t) {
+    function j(t) {
       const e = {
         inputs: {}
       };
@@ -581,7 +581,7 @@ class oi extends lt {
       }
       return e;
     }
-    function D(t) {
+    function z(t) {
       const e = {
         inputs: {}
       };
@@ -629,7 +629,7 @@ class oi extends lt {
           const q = r[b + d], fe = r[b + c], re = a[fe];
           O.push({ index: q, weight: re }), b += 2;
         }
-        for (O.sort(K), w = 0; w < 4; w++) {
+        for (O.sort(W), w = 0; w < 4; w++) {
           const q = O[w];
           q !== void 0 ? (i.indices.array.push(q.index), i.weights.array.push(q.weight)) : (i.indices.array.push(0), i.weights.array.push(0));
         }
@@ -639,7 +639,7 @@ class oi extends lt {
         i.joints.push({ name: H, boneInverse: O });
       }
       return i;
-      function K(H, O) {
+      function W(H, O) {
         return O.weight - H.weight;
       }
     }
@@ -767,19 +767,19 @@ class oi extends lt {
             case "ambient":
             case "shininess":
             case "transparency":
-              e[s.nodeName] = je(s);
+              e[s.nodeName] = Fe(s);
               break;
             case "transparent":
               e[s.nodeName] = {
                 opaque: s.hasAttribute("opaque") ? s.getAttribute("opaque") : "A_ONE",
-                data: je(s)
+                data: Fe(s)
               };
               break;
           }
       }
       return e;
     }
-    function je(t) {
+    function Fe(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -840,7 +840,7 @@ class oi extends lt {
               s.textContent.toUpperCase() === "TRUE" ? e.technique[s.nodeName] = 1 : s.textContent.toUpperCase() === "FALSE" ? e.technique[s.nodeName] = 0 : e.technique[s.nodeName] = parseInt(s.textContent);
               break;
             case "bump":
-              e[s.nodeName] = De(s);
+              e[s.nodeName] = ze(s);
               break;
           }
       }
@@ -868,13 +868,13 @@ class oi extends lt {
               e[s.nodeName] = parseInt(s.textContent);
               break;
             case "bump":
-              e[s.nodeName] = De(s);
+              e[s.nodeName] = ze(s);
               break;
           }
       }
       return e;
     }
-    function De(t) {
+    function ze(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -887,11 +887,11 @@ class oi extends lt {
       }
       return e;
     }
-    function ze(t) {
+    function De(t) {
       return t;
     }
     function St(t) {
-      return ee(T.effects[t], ze);
+      return ee(T.effects[t], De);
     }
     function Gt(t) {
       const e = {
@@ -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 = Pe;
+          e = Ue;
           break;
         default:
           e = rt;
@@ -1033,7 +1033,7 @@ class oi extends lt {
     function qt(t) {
       return ee(T.materials[t], Ve);
     }
-    function Ft(t) {
+    function Pt(t) {
       const e = {
         name: t.getAttribute("name")
       };
@@ -1042,36 +1042,36 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "optics":
-              e.optics = Pt(s);
+              e.optics = Ut(s);
               break;
           }
       }
       T.cameras[t.getAttribute("id")] = e;
     }
-    function Pt(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 Ut(i);
+            return jt(i);
         }
       }
       return {};
     }
-    function Ut(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 = jt(n);
+            e.technique = n.nodeName, e.parameters = Ft(n);
             break;
         }
       }
       return e;
     }
-    function jt(t) {
+    function Ft(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
@@ -1103,7 +1103,7 @@ class oi extends lt {
         case "orthographic":
           let i = t.optics.parameters.ymag, n = t.optics.parameters.xmag;
           const s = t.optics.parameters.aspect_ratio;
-          n = n === void 0 ? i * s : n, i = i === void 0 ? n / s : i, n *= 0.5, i *= 0.5, e = new Fn(
+          n = n === void 0 ? i * s : n, i = i === void 0 ? n / s : i, n *= 0.5, i *= 0.5, e = new Pn(
             -n,
             n,
             i,
@@ -1130,13 +1130,13 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "technique_common":
-              e = Dt(s);
+              e = zt(s);
               break;
           }
       }
       T.lights[t.getAttribute("id")] = e;
     }
-    function Dt(t) {
+    function zt(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -1146,12 +1146,12 @@ class oi extends lt {
             case "point":
             case "spot":
             case "ambient":
-              e.technique = s.nodeName, e.parameters = zt(s);
+              e.technique = s.nodeName, e.parameters = Dt(s);
           }
       }
       return e;
     }
-    function zt(t) {
+    function Dt(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -1172,27 +1172,27 @@ class oi extends lt {
       }
       return e;
     }
-    function Ke(t) {
+    function We(t) {
       let e;
       switch (t.technique) {
         case "directional":
           e = new Hn();
           break;
         case "point":
-          e = new jn();
+          e = new Fn();
           break;
         case "spot":
-          e = new Un();
+          e = new jn();
           break;
         case "ambient":
-          e = new Pn();
+          e = new Un();
           break;
       }
       return t.parameters.color && e.color.copy(t.parameters.color), t.parameters.distance && (e.distance = t.parameters.distance), e;
     }
     function Vt(t) {
       const e = T.lights[t];
-      return e !== void 0 ? ee(e, Ke) : (console.warn("THREE.ColladaLoader: Couldn't find light with ID:", t), null);
+      return e !== void 0 ? ee(e, We) : (console.warn("THREE.ColladaLoader: Couldn't find light with ID:", t), null);
     }
     function Jt(t) {
       const e = {
@@ -1211,7 +1211,7 @@ class oi extends lt {
               e.sources[o] = Oe(s);
               break;
             case "vertices":
-              e.vertices = Kt(s);
+              e.vertices = Wt(s);
               break;
             case "polygons":
               console.warn("THREE.ColladaLoader: Unsupported primitive type: ", s.nodeName);
@@ -1220,7 +1220,7 @@ class oi extends lt {
             case "linestrips":
             case "polylist":
             case "triangles":
-              e.primitives.push(Wt(s));
+              e.primitives.push(Kt(s));
               break;
             default:
               console.log(s);
@@ -1252,7 +1252,7 @@ class oi extends lt {
       }
       return e;
     }
-    function Kt(t) {
+    function Wt(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
@@ -1260,7 +1260,7 @@ class oi extends lt {
       }
       return e;
     }
-    function Wt(t) {
+    function Kt(t) {
       const e = {
         type: t.nodeName,
         material: t.getAttribute("material"),
@@ -1301,7 +1301,7 @@ class oi extends lt {
         t[i].hasUV === !0 && e++;
       e > 0 && e < t.length && (t.uvsNeedsFix = !0);
     }
-    function We(t) {
+    function Ke(t) {
       const e = {}, i = t.sources, n = t.vertices, s = t.primitives;
       if (s.length === 0) return {};
       const o = Yt(s);
@@ -1312,10 +1312,10 @@ class oi extends lt {
       return e;
     }
     function $t(t, e, i) {
-      const n = {}, s = { array: [], stride: 0 }, o = { array: [], stride: 0 }, r = { array: [], stride: 0 }, d = { array: [], stride: 0 }, c = { array: [], stride: 0 }, l = { array: [], stride: 4 }, g = { array: [], stride: 4 }, a = new Dn(), b = [];
+      const n = {}, s = { array: [], stride: 0 }, o = { array: [], stride: 0 }, r = { array: [], stride: 0 }, d = { array: [], stride: 0 }, c = { array: [], stride: 0 }, l = { array: [], stride: 4 }, g = { array: [], stride: 4 }, a = new zn(), b = [];
       let p = 0;
       for (let w = 0; w < t.length; w++) {
-        const y = t[w], K = y.inputs;
+        const y = t[w], W = y.inputs;
         let H = 0;
         switch (y.type) {
           case "lines":
@@ -1345,8 +1345,8 @@ class oi extends lt {
             console.warn("THREE.ColladaLoader: Unknown primitive type:", y.type);
         }
         a.addGroup(p, H, w), p += H, y.material && b.push(y.material);
-        for (const O in K) {
-          const q = K[O];
+        for (const O in W) {
+          const q = W[O];
           switch (O) {
             case "VERTEX":
               for (const fe in i) {
@@ -1417,13 +1417,13 @@ class oi extends lt {
         for (let b = 0, p = d.length; b < p; b++) {
           const w = d[b];
           if (w === 4) {
-            const y = a + r * 0, K = a + r * 1, H = a + r * 2, O = a + r * 3;
-            c(y), c(K), c(O), c(K), c(H), c(O);
+            const y = a + r * 0, W = a + r * 1, H = a + r * 2, O = a + r * 3;
+            c(y), c(W), c(O), c(W), c(H), c(O);
           } else if (w === 3) {
-            const y = a + r * 0, K = a + r * 1, H = a + r * 2;
-            c(y), c(K), c(H);
+            const y = a + r * 0, W = a + r * 1, H = a + r * 2;
+            c(y), c(W), c(H);
           } else if (w > 4)
-            for (let y = 1, K = w - 2; y <= K; y++) {
+            for (let y = 1, W = w - 2; y <= W; y++) {
               const H = a + r * 0, O = a + r * y, q = a + r * (y + 1);
               c(H), c(O), c(q);
             }
@@ -1434,7 +1434,7 @@ class oi extends lt {
           c(a);
     }
     function Ye(t) {
-      return ee(T.geometries[t], We);
+      return ee(T.geometries[t], Ke);
     }
     function Zt(t) {
       const e = {
@@ -1699,10 +1699,10 @@ class oi extends lt {
             else if (p.static)
               console.warn("THREE.ColladaLoader: Joint " + g + " is static.");
             else {
-              const w = b.object, y = p.axis, K = b.transforms;
+              const w = b.object, y = p.axis, W = b.transforms;
               ce.identity();
-              for (let H = 0; H < K.length; H++) {
-                const O = K[H];
+              for (let H = 0; H < W.length; H++) {
+                const O = W[H];
                 if (O.sid && O.sid.indexOf(g) !== -1)
                   switch (p.type) {
                     case "revolute":
@@ -1898,7 +1898,7 @@ class oi extends lt {
       const d = [], c = [];
       for (s = 0; s < n.length; s++)
         r = n[s], d.push(r.bone), c.push(r.boneInverse);
-      return new Wn(d, c);
+      return new Kn(d, c);
     }
     function Qe(t, e, i) {
       t.traverse(function(n) {
@@ -1924,9 +1924,9 @@ class oi extends lt {
         p !== null && e.push(p.clone());
       }
       for (let a = 0, b = r.length; a < b; a++) {
-        const p = r[a], w = N(p.id), y = Ye(w.id), K = et(y, p.materials), H = p.skeletons, O = w.skin.joints, q = bn(H, O);
-        for (let fe = 0, re = K.length; fe < re; fe++) {
-          const xe = K[fe];
+        const p = r[a], w = N(p.id), y = Ye(w.id), W = et(y, p.materials), H = p.skeletons, O = w.skin.joints, q = bn(H, O);
+        for (let fe = 0, re = W.length; fe < re; fe++) {
+          const xe = W[fe];
           xe.isSkinnedMesh && (xe.bind(q, w.skin.bindMatrix), xe.normalizeSkinWeights()), e.push(xe);
         }
       }
@@ -1936,8 +1936,8 @@ class oi extends lt {
       }
       for (let a = 0, b = c.length; a < b; a++) {
         const p = c[a], w = Ye(p.id), y = et(w, p.materials);
-        for (let K = 0, H = y.length; K < H; K++)
-          e.push(y[K]);
+        for (let W = 0, H = y.length; W < H; W++)
+          e.push(y[W]);
       }
       for (let a = 0, b = l.length; a < b; a++)
         e.push(Ee(l[a]).clone());
@@ -1945,7 +1945,7 @@ class oi extends lt {
       if (n.length === 0 && e.length === 1)
         g = e[0];
       else {
-        g = s === "JOINT" ? new zn() : new pt();
+        g = s === "JOINT" ? new Dn() : new pt();
         for (let a = 0; a < e.length; a++)
           g.add(e[a]);
       }
@@ -1979,7 +1979,7 @@ class oi extends lt {
         let c;
         switch (n) {
           case "lines":
-            c = new Kn(s.data, d);
+            c = new Wn(s.data, d);
             break;
           case "linestrips":
             c = new Jn(s.data, d);
@@ -2036,7 +2036,7 @@ class oi extends lt {
         if (ne(T.animations) === !1) {
           const e = [];
           for (const i in T.animations) {
-            const n = j(i);
+            const n = F(i);
             for (let s = 0, o = n.length; s < o; s++)
               e.push(n[s]);
           }
@@ -2044,7 +2044,7 @@ class oi extends lt {
         }
       } else
         for (const e in t)
-          Ie.push(z(e));
+          Ie.push(D(e));
     }
     function En(t) {
       let e = "";
@@ -2058,19 +2058,19 @@ class oi extends lt {
     }
     if (G.length === 0)
       return { scene: new Mn() };
-    const st = new DOMParser().parseFromString(G, "application/xml"), Z = R(st, "COLLADA")[0], Fe = st.getElementsByTagName("parsererror")[0];
-    if (Fe !== void 0) {
-      const t = R(Fe, "div")[0];
+    const st = new DOMParser().parseFromString(G, "application/xml"), Z = R(st, "COLLADA")[0], Pe = st.getElementsByTagName("parsererror")[0];
+    if (Pe !== void 0) {
+      const t = R(Pe, "div")[0];
       let e;
-      return t ? e = t.textContent : e = En(Fe), console.error(`THREE.ColladaLoader: Failed to parse collada file.
+      return t ? e = t.textContent : e = En(Pe), console.error(`THREE.ColladaLoader: Failed to parse collada file.
 `, e), null;
     }
     const xn = Z.getAttribute("version");
     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 Pe;
-    wt && (Pe = new wt(this.manager), Pe.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 = {
@@ -2089,7 +2089,7 @@ class oi extends lt {
       physicsModels: {},
       kinematicsScenes: {}
     };
-    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", u), $(Z, "library_controllers", "controller", B), $(Z, "library_images", "image", f), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Gt), $(Z, "library_cameras", "camera", Ft), $(Z, "library_lights", "light", Bt), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", qe), $(Z, "library_visual_scenes", "visual_scene", kn), $(Z, "library_kinematics_models", "kinematics_model", Zt), $(Z, "library_physics_models", "physics_model", rn), $(Z, "scene", "instance_kinematics_scene", ln), ie(T.animations, F), ie(T.clips, W), ie(T.controllers, _), ie(T.images, A), ie(T.effects, ze), ie(T.materials, Ve), ie(T.cameras, Je), ie(T.lights, Ke), ie(T.geometries, We), ie(T.visualScenes, nt), Tn(), hn();
+    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", u), $(Z, "library_controllers", "controller", B), $(Z, "library_images", "image", f), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Gt), $(Z, "library_cameras", "camera", Pt), $(Z, "library_lights", "light", Bt), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", qe), $(Z, "library_visual_scenes", "visual_scene", kn), $(Z, "library_kinematics_models", "kinematics_model", Zt), $(Z, "library_physics_models", "physics_model", rn), $(Z, "scene", "instance_kinematics_scene", ln), ie(T.animations, P), ie(T.clips, K), ie(T.controllers, _), ie(T.images, A), ie(T.effects, De), ie(T.materials, Ve), ie(T.cameras, Je), ie(T.lights, We), ie(T.geometries, Ke), ie(T.visualScenes, nt), Tn(), hn();
     const Me = An(R(Z, "scene")[0]);
     return Me.animations = Ie, ot.upAxis === "Z_UP" && (console.warn("THREE.ColladaLoader: You are loading an asset with a Z-UP coordinate system. The loader just rotates the asset to transform it into Y-UP. The vertex data are not converted, see #24289."), Me.rotation.set(-Math.PI / 2, 0, 0)), Me.scale.multiplyScalar(ot.unit), {
       get animations() {
@@ -2101,12 +2101,12 @@ class oi extends lt {
     };
   }
 }
-const Ue = 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"), Ue.setFromEuler(kt), Ue.multiply(ue.quaternion), ue.quaternion.copy(Ue);
+  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 [F, j] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [P, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(F) ? R + "/" + j : R + "/" + F + "/" + j;
+        return R.endsWith(P) ? R + "/" + F : R + "/" + P + "/" + F;
       if (R instanceof Function)
-        return R(F) + "/" + j;
+        return R(P) + "/" + F;
       if (typeof R == "object")
-        return F in R ? R[F] + "/" + j : (console.error(`URDFLoader : ${F} not found in provided package list.`), null);
+        return P in R ? R[P] + "/" + F : (console.error(`URDFLoader : ${P} not found in provided package list.`), null);
     }
     function Ne(M) {
-      let F;
-      M instanceof Document ? F = [...M.children] : M instanceof Element ? F = [M] : F = [...new DOMParser().parseFromString(M, "text/xml").children];
-      const j = F.filter((E) => E.nodeName === "robot").pop();
-      return $(j);
+      let P;
+      M instanceof Document ? P = [...M.children] : M instanceof Element ? P = [M] : P = [...new DOMParser().parseFromString(M, "text/xml").children];
+      const F = P.filter((E) => E.nodeName === "robot").pop();
+      return $(F);
     }
     function $(M) {
-      const F = [...M.children], j = F.filter((L) => L.nodeName.toLowerCase() === "link"), E = F.filter((L) => L.nodeName.toLowerCase() === "joint"), J = F.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      const P = [...M.children], F = P.filter((L) => L.nodeName.toLowerCase() === "link"), E = P.filter((L) => L.nodeName.toLowerCase() === "joint"), J = P.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
         const k = L.getAttribute("name");
         we[k] = be(L);
       });
       const m = {}, h = {};
-      j.forEach((L) => {
-        const k = L.getAttribute("name"), P = M.querySelector(`child[link="${k}"]`) === null;
-        Y[k] = ee(L, m, h, P ? 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(), P = (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) => {
-            P(te);
+            U(te);
           });
         };
-        P(L);
+        U(L);
       }), S.frames = {
         ...h,
         ...m,
@@ -2186,96 +2186,96 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const F = [...M.children], j = M.getAttribute("type");
+      const P = [...M.children], F = M.getAttribute("type");
       let E;
-      const J = F.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 = j;
+      const J = P.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 = F;
       let S = null, m = null, h = [0, 0, 0], C = [0, 0, 0];
-      F.forEach((k) => {
-        const P = k.nodeName.toLowerCase();
-        P === "origin" ? (h = _e(k.getAttribute("xyz")), C = _e(k.getAttribute("rpy"))) : P === "child" ? m = Y[k.getAttribute("link")] : P === "parent" ? S = Y[k.getAttribute("link")] : P === "limit" && (E.limit.lower = parseFloat(k.getAttribute("lower") || E.limit.lower), E.limit.upper = parseFloat(k.getAttribute("upper") || E.limit.upper));
+      P.forEach((k) => {
+        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 = F.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
+      const L = P.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
       if (L) {
-        const k = L.getAttribute("xyz").split(/\s+/g).map((P) => parseFloat(P));
+        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, F, j, E = null) {
+    function ee(M, P, 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) => {
         const h = ge(m, we);
         if (E.add(h), m.hasAttribute("name")) {
           const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, F[C] = h;
+          h.name = C, h.urdfName = C, P[C] = h;
         }
       }), oe && J.filter((m) => m.nodeName.toLowerCase() === "collision").forEach((m) => {
         const h = ge(m);
         if (E.add(h), m.hasAttribute("name")) {
           const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, j[C] = h;
+          h.name = C, h.urdfName = C, F[C] = h;
         }
       }), E;
     }
     function be(M) {
-      const F = [...M.children], j = new ve();
-      return j.name = M.getAttribute("name") || "", F.forEach((E) => {
+      const P = [...M.children], F = new ve();
+      return F.name = M.getAttribute("name") || "", P.forEach((E) => {
         const J = E.nodeName.toLowerCase();
         if (J === "color") {
           const S = E.getAttribute("rgba").split(/\s/g).map((m) => parseFloat(m));
-          j.color.setRGB(S[0], S[1], S[2]), j.opacity = S[3], j.transparent = S[3] < 1, j.depthWrite = !j.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);
-            j.map = m.load(h), j.map.colorSpace = me;
+            F.map = m.load(h), F.map.colorSpace = me;
           }
         }
-      }), j;
+      }), F;
     }
-    function ge(M, F = {}) {
-      const j = M.nodeName.toLowerCase() === "collision", E = [...M.children];
+    function ge(M, P = {}) {
+      const F = M.nodeName.toLowerCase() === "collision", E = [...M.children];
       let J = null;
       const S = E.filter((h) => h.nodeName.toLowerCase() === "material")[0];
       if (S) {
         const h = S.getAttribute("name");
-        h && h in F ? J = F[h] : J = be(S);
+        h && h in P ? J = P[h] : J = be(S);
       } else
         J = new ve();
-      const m = j ? 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"), P = ke(k);
-            if (P !== 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(P, 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 P = _e(h.children[0].getAttribute("size"));
-            k.scale.set(P[0], P[1], P[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 P = parseFloat(h.children[0].getAttribute("radius")) || 0;
-            k.scale.set(P, P, P), 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 P = parseFloat(h.children[0].getAttribute("radius")) || 0, ae = parseFloat(h.children[0].getAttribute("length")) || 0;
-            k.scale.set(P, ae, P), 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"));