ss-component-new 1.3.21 → 1.3.22

package/dist/{URDFLoader-D-0fnLWu.js → URDFLoader-m1gMdnSQ.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-CBRDqlja.js";
-import { bI as vn, b8 as Rn, aK as lt, aY as At, aL as In, V as pe, a5 as he, bi as dt, K as Mn, b5 as Tt, L as ut, a6 as Le, bp as ft, bJ as Sn, a1 as ve, by as Se, O as me, a_ as On, a2 as Gn, aU as Pn, P as ht, bn as qn, Z as Un, b0 as jn, a0 as Fn, _ as Hn, aw as pt, b2 as Et, bv as mt, bx as Bn, az as zn, aM as ye, bq as Dn, aS as bt, bk as Vn, Y as Ce, aB as Jn, bl as Kn, bo as Wn, be as Oe, bg as gt, bK as Yn, bL as Xn, bM as yt, bN as $n, bO as Zn, bP as Qn, bQ as ei, aQ as ti, bR as ni, bS as ii, a4 as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-n7J00Lcz.js";
+import { S as Ln } from "./MTLLoader-YR-bfx1D.js";
+import { bO as vn, be as Rn, aQ as lt, b2 as At, aR as In, V as pe, aa as he, bo as dt, P as Mn, bb as Tt, Q as ut, ab as Le, bv as ft, bP as Sn, a6 as ve, bE as Se, X as me, b4 as On, a7 as Gn, a_ as Pn, R as ht, bt as qn, a2 as Fn, b6 as Un, a5 as jn, a3 as Hn, aC as pt, b8 as Et, bB as mt, bD as Bn, aF as Dn, aS as ye, bw as zn, aY as bt, bq as Vn, a1 as Ce, aH as Jn, br as Wn, bu as Kn, bk as Oe, bm as gt, bQ as Yn, bR as Xn, bS as yt, bT as $n, bU as Qn, bV as Zn, bW as ei, aW as ti, bX as ni, bY as ii, a9 as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-1pEFQ04s.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
@@ -16,7 +16,7 @@ class wt extends vn {
    * @return {DataTextureLoader~TexData} An object representing the parsed texture data.
    */
   parse(O) {
-    function Q(u) {
+    function Z(u) {
       switch (u.image_type) {
         // check indexed type
         case Ne:
@@ -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, D, B, X) {
-      let j, z;
-      const _ = D.pixel_size >> 3, x = D.width * D.height * _;
-      if (W && (z = X.subarray(B, B += D.colormap_length * (D.colormap_size >> 3))), u) {
-        j = new Uint8Array(x);
+    function R(u, K, z, B, X) {
+      let U, D;
+      const _ = z.pixel_size >> 3, x = z.width * z.height * _;
+      if (K && (D = X.subarray(B, B += z.colormap_length * (z.colormap_size >> 3))), u) {
+        U = 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)
-              j.set(le, V + A * _);
+              U.set(le, V + A * _);
             V += _ * f;
           } else {
             for (f *= _, A = 0; A < f; ++A)
-              j[V + A] = X[B++];
+              U[V + A] = X[B++];
             V += f;
           }
       } else
-        j = X.subarray(
+        U = X.subarray(
           B,
-          B += W ? D.width * D.height : x
+          B += K ? z.width * z.height : x
         );
       return {
-        pixel_data: j,
-        palettes: z
+        pixel_data: U,
+        palettes: D
       };
     }
-    function se(u, W, D, B, X, j, z, _, x) {
+    function se(u, K, z, B, X, U, D, _, x) {
       const N = x;
       let f, A = 0, V, le;
       const Ae = C.width;
-      for (le = W; le !== B; le += D)
-        for (V = X; V !== z; V += j, A++)
+      for (le = K; le !== B; le += z)
+        for (V = X; V !== D; V += U, 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, D, B, X, j, z, _) {
+    function v(u, K, z, B, X, U, D, _) {
       let x, N = 0, f, A;
       const V = C.width;
-      for (A = W; A !== B; A += D)
-        for (f = X; f !== z; f += j, N += 2)
+      for (A = K; A !== B; A += z)
+        for (f = X; f !== D; f += U, 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, D, B, X, j, z, _) {
+    function oe(u, K, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += D)
-        for (N = X; N !== z; N += j, x += 3)
+      for (f = K; f !== B; f += z)
+        for (N = X; N !== D; N += U, 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, D, B, X, j, z, _) {
+    function I(u, K, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += D)
-        for (N = X; N !== z; N += j, x += 4)
+      for (f = K; f !== B; f += z)
+        for (N = X; N !== D; N += U, 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, D, B, X, j, z, _) {
+    function Y(u, K, z, B, X, U, D, _) {
       let x, N = 0, f, A;
       const V = C.width;
-      for (A = W; A !== B; A += D)
-        for (f = X; f !== z; f += j, N++)
+      for (A = K; A !== B; A += z)
+        for (f = X; f !== D; f += U, 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, D, B, X, j, z, _) {
+    function ne(u, K, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += D)
-        for (N = X; N !== z; N += j, x += 2)
+      for (f = K; f !== B; f += z)
+        for (N = X; N !== D; N += U, 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, D, B, X) {
-      let j, z, _, x, N, f;
+    function we(u, K, z, B, X) {
+      let U, D, _, x, N, f;
       switch ((C.flags & M) >> q) {
         default:
         case J:
-          j = 0, _ = 1, N = W, z = 0, x = 1, f = D;
+          U = 0, _ = 1, N = K, D = 0, x = 1, f = z;
           break;
-        case F:
-          j = 0, _ = 1, N = W, z = D - 1, x = -1, f = -1;
+        case j:
+          U = 0, _ = 1, N = K, D = z - 1, x = -1, f = -1;
           break;
         case S:
-          j = W - 1, _ = -1, N = -1, z = 0, x = 1, f = D;
+          U = K - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
           break;
         case E:
-          j = W - 1, _ = -1, N = -1, z = D - 1, x = -1, f = -1;
+          U = K - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
           break;
       }
-      if (U)
+      if (F)
         switch (C.pixel_size) {
           case 8:
-            Y(u, z, x, f, j, _, N, B);
+            Y(u, D, x, f, U, _, N, B);
             break;
           case 16:
-            ne(u, z, x, f, j, _, N, B);
+            ne(u, D, x, f, U, _, 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, z, x, f, j, _, N, B, X);
+            se(u, D, x, f, U, _, N, B, X);
             break;
           case 16:
-            v(u, z, x, f, j, _, N, B);
+            v(u, D, x, f, U, _, N, B);
             break;
           case 24:
-            oe(u, z, x, f, j, _, N, B);
+            oe(u, D, x, f, U, _, N, B);
             break;
           case 32:
-            I(u, z, x, f, j, _, N, B);
+            I(u, D, x, f, U, _, 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, F = 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, j = 0, E = 1, J = 2, S = 3;
     if (O.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
     let m = 0;
     const h = new Uint8Array(O), C = {
@@ -188,10 +188,10 @@ class wt extends vn {
       pixel_size: h[m++],
       flags: h[m++]
     };
-    if (Q(C), C.id_length + m > O.length)
+    if (Z(C), C.id_length + m > O.length)
       throw new Error("THREE.TGALoader: No data.");
     m += C.id_length;
-    let L = !1, k = !1, U = !1;
+    let L = !1, k = !1, F = !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, U = !0;
+        L = !0, F = !0;
         break;
       case ie:
-        U = !0;
+        F = !0;
         break;
     }
     const ae = new Uint8Array(C.width * C.height * 4), te = R(L, k, C, m, h);
@@ -232,11 +232,11 @@ class oi extends lt {
    * @param {onProgressCallback} onProgress - Executed while the loading is in progress.
    * @param {onErrorCallback} onError - Executed when errors occur.
    */
-  load(O, Q, R, se) {
+  load(O, Z, R, se) {
     const v = this, oe = v.path === "" ? At.extractUrlBase(O) : v.path, I = new In(v.manager);
     I.setPath(v.path), I.setRequestHeader(v.requestHeader), I.setWithCredentials(v.withCredentials), I.load(O, function(Y) {
       try {
-        Q(v.parse(Y, oe));
+        Z(v.parse(Y, oe));
       } catch (ne) {
         se ? se(ne) : console.error(ne), v.manager.itemError(O);
       }
@@ -250,7 +250,7 @@ class oi extends lt {
    * @param {string} path - The asset path.
    * @return {{scene:Group,animations:Array<AnimationClip>,kinematics:Object}} An object representing the parsed asset.
    */
-  parse(O, Q) {
+  parse(O, Z) {
     function R(t, e) {
       const i = [], n = t.childNodes;
       for (let s = 0, o = n.length; s < o; s++) {
@@ -390,7 +390,7 @@ class oi extends lt {
         }
       return e;
     }
-    function F(t) {
+    function j(t) {
       return ee(T.animations[t], q);
     }
     function E(t, e, i) {
@@ -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 = U(t, s, e), n = ae(t, s, e), i === null) {
+          if (i = F(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 U(t, e, i) {
+    function F(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 = F(s[o]);
+        const d = j(s[o]);
         for (let c = 0, l = d.length; c < l; c++)
           e.push(d[c]);
       }
       return new ft(i, n, e);
     }
-    function D(t) {
-      return ee(T.clips[t], W);
+    function z(t) {
+      return ee(T.clips[t], K);
     }
     function B(t) {
       const e = {};
@@ -556,16 +556,16 @@ class oi extends lt {
               e.sources[o] = Ge(s);
               break;
             case "joints":
-              e.joints = j(s);
+              e.joints = U(s);
               break;
             case "vertex_weights":
-              e.vertexWeights = z(s);
+              e.vertexWeights = D(s);
               break;
           }
       }
       return e;
     }
-    function j(t) {
+    function U(t) {
       const e = {
         inputs: {}
       };
@@ -581,7 +581,7 @@ class oi extends lt {
       }
       return e;
     }
-    function z(t) {
+    function D(t) {
       const e = {
         inputs: {}
       };
@@ -629,7 +629,7 @@ class oi extends lt {
           const P = r[b + d], fe = r[b + c], re = a[fe];
           G.push({ index: P, weight: re }), b += 2;
         }
-        for (G.sort(K), w = 0; w < 4; w++) {
+        for (G.sort(W), w = 0; w < 4; w++) {
           const P = G[w];
           P !== void 0 ? (i.indices.array.push(P.index), i.weights.array.push(P.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: G });
       }
       return i;
-      function K(H, G) {
+      function W(H, G) {
         return G.weight - H.weight;
       }
     }
@@ -767,19 +767,19 @@ class oi extends lt {
             case "ambient":
             case "shininess":
             case "transparency":
-              e[s.nodeName] = Fe(s);
+              e[s.nodeName] = je(s);
               break;
             case "transparent":
               e[s.nodeName] = {
                 opaque: s.hasAttribute("opaque") ? s.getAttribute("opaque") : "A_ONE",
-                data: Fe(s)
+                data: je(s)
               };
               break;
           }
       }
       return e;
     }
-    function Fe(t) {
+    function je(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] = ze(s);
+              e[s.nodeName] = De(s);
               break;
           }
       }
@@ -868,13 +868,13 @@ class oi extends lt {
               e[s.nodeName] = parseInt(s.textContent);
               break;
             case "bump":
-              e[s.nodeName] = ze(s);
+              e[s.nodeName] = De(s);
               break;
           }
       }
       return e;
     }
-    function ze(t) {
+    function De(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 De(t) {
+    function ze(t) {
       return t;
     }
     function St(t) {
-      return ee(T.effects[t], De);
+      return ee(T.effects[t], ze);
     }
     function Ot(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 = Ue;
+          e = Fe;
           break;
         default:
           e = rt;
@@ -1042,36 +1042,36 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "optics":
-              e.optics = Ut(s);
+              e.optics = Ft(s);
               break;
           }
       }
       T.cameras[t.getAttribute("id")] = e;
     }
-    function Ut(t) {
+    function Ft(t) {
       for (let e = 0; e < t.childNodes.length; e++) {
         const i = t.childNodes[e];
         switch (i.nodeName) {
           case "technique_common":
-            return jt(i);
+            return Ut(i);
         }
       }
       return {};
     }
-    function jt(t) {
+    function Ut(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 = Ft(n);
+            e.technique = n.nodeName, e.parameters = jt(n);
             break;
         }
       }
       return e;
     }
-    function Ft(t) {
+    function jt(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
@@ -1130,13 +1130,13 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "technique_common":
-              e = zt(s);
+              e = Dt(s);
               break;
           }
       }
       T.lights[t.getAttribute("id")] = 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];
@@ -1146,12 +1146,12 @@ class oi extends lt {
             case "point":
             case "spot":
             case "ambient":
-              e.technique = s.nodeName, e.parameters = Dt(s);
+              e.technique = s.nodeName, e.parameters = zt(s);
           }
       }
       return 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];
@@ -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 Fn();
+          e = new jn();
           break;
         case "spot":
-          e = new jn();
+          e = new Un();
           break;
         case "ambient":
-          e = new Un();
+          e = new Fn();
           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] = Ge(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 zn(), 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 Dn(), 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 G in K) {
-          const P = K[G];
+        for (const G in W) {
+          const P = W[G];
           switch (G) {
             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, G = a + r * 3;
-            c(y), c(K), c(G), c(K), c(H), c(G);
+            const y = a + r * 0, W = a + r * 1, H = a + r * 2, G = a + r * 3;
+            c(y), c(W), c(G), c(W), c(H), c(G);
           } 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, G = a + r * y, P = a + r * (y + 1);
               c(H), c(G), c(P);
             }
@@ -1434,9 +1434,9 @@ class oi extends lt {
           c(a);
     }
     function Ye(t) {
-      return ee(T.geometries[t], We);
+      return ee(T.geometries[t], Ke);
     }
-    function Zt(t) {
+    function Qt(t) {
       const e = {
         name: t.getAttribute("name") || "",
         joints: {},
@@ -1453,11 +1453,11 @@ class oi extends lt {
       }
       T.kinematicsModels[t.getAttribute("id")] = e;
     }
-    function Qt(t) {
+    function Zt(t) {
       return t.build !== void 0 ? t.build : t;
     }
     function en(t) {
-      return ee(T.kinematicsModels[t], Qt);
+      return ee(T.kinematicsModels[t], Zt);
     }
     function tn(t, e) {
       for (let i = 0; i < t.childNodes.length; i++) {
@@ -1664,7 +1664,7 @@ class oi extends lt {
       if (t === void 0 || e === void 0) return;
       const n = en(t), s = fn(e), o = it(i), r = s.bindJointAxis, d = {};
       for (let g = 0, a = r.length; g < a; g++) {
-        const b = r[g], p = Z.querySelector('[sid="' + b.target + '"]');
+        const b = r[g], p = Q.querySelector('[sid="' + b.target + '"]');
         if (p) {
           const w = p.parentElement;
           c(b.jointIndex, w);
@@ -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 G = K[H];
+              for (let H = 0; H < W.length; H++) {
+                const G = W[H];
                 if (G.sid && G.sid.indexOf(g) !== -1)
                   switch (p.type) {
                     case "revolute":
@@ -1739,7 +1739,7 @@ class oi extends lt {
       };
     }
     function pn(t) {
-      const e = [], i = Z.querySelector('[id="' + t.id + '"]');
+      const e = [], i = Q.querySelector('[id="' + t.id + '"]');
       for (let n = 0; n < i.childNodes.length; n++) {
         const s = i.childNodes[n];
         if (s.nodeType !== 1) continue;
@@ -1811,13 +1811,13 @@ class oi extends lt {
             e.instanceCameras.push(I(n.getAttribute("url")));
             break;
           case "instance_controller":
-            e.instanceControllers.push(Ze(n));
+            e.instanceControllers.push(Qe(n));
             break;
           case "instance_light":
             e.instanceLights.push(I(n.getAttribute("url")));
             break;
           case "instance_geometry":
-            e.instanceGeometries.push(Ze(n));
+            e.instanceGeometries.push(Qe(n));
             break;
           case "instance_node":
             e.instanceNodes.push(I(n.getAttribute("url")));
@@ -1844,7 +1844,7 @@ class oi extends lt {
       }
       return tt(e.id) ? console.warn("THREE.ColladaLoader: There is already a node with ID %s. Exclude current node from further processing.", e.id) : T.nodes[e.id] = e, e;
     }
-    function Ze(t) {
+    function Qe(t) {
       const e = {
         id: I(t.getAttribute("url")),
         materials: {},
@@ -1874,14 +1874,14 @@ class oi extends lt {
         const l = t[s];
         let g;
         if (tt(l))
-          g = Ee(l), Qe(g, e, i);
+          g = Ee(l), Ze(g, e, i);
         else if (Nn(l)) {
           const b = T.visualScenes[l].children;
           for (let p = 0; p < b.length; p++) {
             const w = b[p];
             if (w.type === "JOINT") {
               const y = Ee(w.id);
-              Qe(y, e, i);
+              Ze(y, e, i);
             }
           }
         } else
@@ -1898,9 +1898,9 @@ 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) {
+    function Ze(t, e, i) {
       t.traverse(function(n) {
         if (n.isBone === !0) {
           let s;
@@ -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, G = w.skin.joints, P = bn(H, G);
-        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, G = w.skin.joints, P = bn(H, G);
+        for (let fe = 0, re = W.length; fe < re; fe++) {
+          const xe = W[fe];
           xe.isSkinnedMesh && (xe.bind(P, 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 Dn() : new pt();
+        g = s === "JOINT" ? new zn() : 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 = F(i);
+            const n = j(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(D(e));
+          Ie.push(z(e));
     }
     function En(t) {
       let e = "";
@@ -2058,19 +2058,19 @@ class oi extends lt {
     }
     if (O.length === 0)
       return { scene: new Mn() };
-    const st = new DOMParser().parseFromString(O, "application/xml"), Z = R(st, "COLLADA")[0], qe = st.getElementsByTagName("parsererror")[0];
+    const st = new DOMParser().parseFromString(O, "application/xml"), Q = R(st, "COLLADA")[0], qe = st.getElementsByTagName("parsererror")[0];
     if (qe !== void 0) {
       const t = R(qe, "div")[0];
       let e;
       return t ? e = t.textContent : e = En(qe), console.error(`THREE.ColladaLoader: Failed to parse collada file.
 `, e), null;
     }
-    const xn = Z.getAttribute("version");
+    const xn = Q.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 Ue;
-    wt && (Ue = new wt(this.manager), Ue.setPath(this.resourcePath || Q));
+    const ot = we(R(Q, "asset")[0]), rt = new Tt(this.manager);
+    rt.setPath(this.resourcePath || Z).setCrossOrigin(this.crossOrigin);
+    let Fe;
+    wt && (Fe = new wt(this.manager), Fe.setPath(this.resourcePath || Z));
     const Re = new ut(), Ie = [];
     let at = {}, _n = 0;
     const T = {
@@ -2089,8 +2089,8 @@ 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", Ot), $(Z, "library_cameras", "camera", qt), $(Z, "library_lights", "light", Bt), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", Pe), $(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, q), ie(T.clips, W), ie(T.controllers, _), ie(T.images, A), ie(T.effects, De), ie(T.materials, Ve), ie(T.cameras, Je), ie(T.lights, Ke), ie(T.geometries, We), ie(T.visualScenes, nt), Tn(), hn();
-    const Me = An(R(Z, "scene")[0]);
+    $(Q, "library_animations", "animation", be), $(Q, "library_animation_clips", "animation_clip", u), $(Q, "library_controllers", "controller", B), $(Q, "library_images", "image", f), $(Q, "library_effects", "effect", le), $(Q, "library_materials", "material", Ot), $(Q, "library_cameras", "camera", qt), $(Q, "library_lights", "light", Bt), $(Q, "library_geometries", "geometry", Jt), $(Q, "library_nodes", "node", Pe), $(Q, "library_visual_scenes", "visual_scene", kn), $(Q, "library_kinematics_models", "kinematics_model", Qt), $(Q, "library_physics_models", "physics_model", rn), $(Q, "scene", "instance_kinematics_scene", ln), ie(T.animations, q), ie(T.clips, K), ie(T.controllers, _), ie(T.images, A), ie(T.effects, ze), 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(Q, "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() {
         return console.warn("THREE.ColladaLoader: Please access animations over scene.animations now."), Ie;
@@ -2101,12 +2101,12 @@ class oi extends lt {
     };
   }
 }
-const je = new Et(), kt = new si();
+const Ue = new Et(), kt = new si();
 function _e(ue) {
   return ue ? ue.trim().split(/\s+/g).map((O) => parseFloat(O)) : [0, 0, 0];
 }
-function Nt(ue, O, Q = !1) {
-  Q || ue.rotation.set(0, 0, 0), kt.set(O[0], O[1], O[2], "ZYX"), je.setFromEuler(kt), je.multiply(ue.quaternion), ue.quaternion.copy(je);
+function Nt(ue, O, Z = !1) {
+  Z || ue.rotation.set(0, 0, 0), kt.set(O[0], O[1], O[2], "ZYX"), Ue.setFromEuler(kt), Ue.multiply(ue.quaternion), ue.quaternion.copy(Ue);
 }
 class ci {
   constructor(O) {
@@ -2114,13 +2114,13 @@ class ci {
   }
   /* Public API */
   loadAsync(O) {
-    return new Promise((Q, R) => {
-      this.load(O, Q, null, R);
+    return new Promise((Z, R) => {
+      this.load(O, Z, null, R);
     });
   }
   // urdf:    The path to the URDF within the package OR absolute
   // onComplete:      Callback that is passed the model once loaded
-  load(O, Q, R, se) {
+  load(O, Z, R, se) {
     const v = this.manager, oe = At.extractUrlBase(O), I = this.manager.resolveURL(O);
     v.itemStart(I), fetch(I, this.fetchOptions).then((Y) => {
       if (Y.ok)
@@ -2128,40 +2128,40 @@ class ci {
       throw new Error(`URDFLoader: Failed to load url '${I}' with error code ${Y.status} : ${Y.statusText}.`);
     }).then((Y) => {
       const ne = this.parse(Y, this.workingPath || oe);
-      Q(ne), v.itemEnd(I);
+      Z(ne), v.itemEnd(I);
     }).catch((Y) => {
       se ? se(Y) : console.error("URDFLoader: Error loading file.", Y), v.itemError(I), v.itemEnd(I);
     });
   }
-  parse(O, Q = this.workingPath) {
+  parse(O, Z = this.workingPath) {
     const R = this.packages, se = this.loadMeshCb, v = this.parseVisual, oe = this.parseCollision, I = this.manager, Y = {}, ne = {}, we = {};
     function ke(M) {
       if (!/^package:\/\//.test(M))
-        return Q ? Q + M : M;
-      const [q, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+        return Z ? Z + M : M;
+      const [q, j] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(q) ? R + "/" + F : R + "/" + q + "/" + F;
+        return R.endsWith(q) ? R + "/" + j : R + "/" + q + "/" + j;
       if (R instanceof Function)
-        return R(q) + "/" + F;
+        return R(q) + "/" + j;
       if (typeof R == "object")
-        return q in R ? R[q] + "/" + F : (console.error(`URDFLoader : ${q} not found in provided package list.`), null);
+        return q in R ? R[q] + "/" + j : (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 F = q.filter((E) => E.nodeName === "robot").pop();
-      return $(F);
+      const j = q.filter((E) => E.nodeName === "robot").pop();
+      return $(j);
     }
     function $(M) {
-      const q = [...M.children], F = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      const q = [...M.children], j = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
         const k = L.getAttribute("name");
         we[k] = be(L);
       });
       const m = {}, h = {};
-      F.forEach((L) => {
-        const k = L.getAttribute("name"), U = M.querySelector(`child[link="${k}"]`) === null;
-        Y[k] = ee(L, m, h, U ? S : null);
+      j.forEach((L) => {
+        const k = L.getAttribute("name"), F = M.querySelector(`child[link="${k}"]`) === null;
+        Y[k] = ee(L, m, h, F ? 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(), U = (ae) => {
+        const k = /* @__PURE__ */ new Set(), F = (ae) => {
           if (k.has(ae))
             throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");
           k.add(ae), ae.mimicJoints.forEach((te) => {
-            U(te);
+            F(te);
           });
         };
-        U(L);
+        F(L);
       }), S.frames = {
         ...h,
         ...m,
@@ -2186,24 +2186,24 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const q = [...M.children], F = M.getAttribute("type");
+      const q = [...M.children], j = 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 = F;
+      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;
       let S = null, m = null, h = [0, 0, 0], C = [0, 0, 0];
       q.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));
+        const F = k.nodeName.toLowerCase();
+        F === "origin" ? (h = _e(k.getAttribute("xyz")), C = _e(k.getAttribute("rpy"))) : F === "child" ? m = Y[k.getAttribute("link")] : F === "parent" ? S = Y[k.getAttribute("link")] : F === "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((U) => parseFloat(U));
+        const k = L.getAttribute("xyz").split(/\s+/g).map((F) => parseFloat(F));
         E.axis = new pe(k[0], k[1], k[2]), E.axis.normalize();
       }
       return E;
     }
-    function ee(M, q, F, E = null) {
-      E === null && (E = new Zn());
+    function ee(M, q, j, E = null) {
+      E === null && (E = new Qn());
       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);
@@ -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, F[C] = h;
+          h.name = C, h.urdfName = C, j[C] = h;
         }
       }), E;
     }
     function be(M) {
-      const q = [...M.children], F = new ve();
-      return F.name = M.getAttribute("name") || "", q.forEach((E) => {
+      const q = [...M.children], j = new ve();
+      return j.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));
-          F.color.setRGB(S[0], S[1], S[2]), F.opacity = S[3], F.transparent = S[3] < 1, F.depthWrite = !F.transparent;
+          j.color.setRGB(S[0], S[1], S[2]), j.opacity = S[3], j.transparent = S[3] < 1, j.depthWrite = !j.transparent;
         } else if (J === "texture") {
           const S = E.getAttribute("filename");
           if (S) {
             const m = new Tt(I), h = ke(S);
-            F.map = m.load(h), F.map.colorSpace = me;
+            j.map = m.load(h), j.map.colorSpace = me;
           }
         }
-      }), F;
+      }), j;
     }
     function ge(M, q = {}) {
-      const F = M.nodeName.toLowerCase() === "collision", E = [...M.children];
+      const j = 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 = F ? new Qn() : new ei();
+      const m = j ? new Zn() : 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"), U = ke(k);
-            if (U !== null) {
+            const k = h.children[0].getAttribute("filename"), F = ke(k);
+            if (F !== null) {
               const ae = h.children[0].getAttribute("scale");
               if (ae) {
                 const te = _e(ae);
                 m.scale.set(te[0], te[1], te[2]);
               }
-              se(U, I, (te, u) => {
+              se(F, 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 U = _e(h.children[0].getAttribute("size"));
-            k.scale.set(U[0], U[1], U[2]), m.add(k);
+            const F = _e(h.children[0].getAttribute("size"));
+            k.scale.set(F[0], F[1], F[2]), m.add(k);
           } else if (L === "sphere") {
             const k = new Ce();
             k.geometry = new ni(1, 30, 30), k.material = J;
-            const U = parseFloat(h.children[0].getAttribute("radius")) || 0;
-            k.scale.set(U, U, U), m.add(k);
+            const F = parseFloat(h.children[0].getAttribute("radius")) || 0;
+            k.scale.set(F, F, F), m.add(k);
           } else if (L === "cylinder") {
             const k = new Ce();
             k.geometry = new ii(1, 1, 1, 30), k.material = J;
-            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);
+            const F = parseFloat(h.children[0].getAttribute("radius")) || 0, ae = parseFloat(h.children[0].getAttribute("length")) || 0;
+            k.scale.set(F, ae, F), 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"));
@@ -2286,11 +2286,11 @@ class ci {
     return Ne(O);
   }
   // Default mesh loading function
-  defaultMeshLoader(O, Q, R) {
-    /\.stl$/i.test(O) ? new Ln(Q).load(O, (v) => {
+  defaultMeshLoader(O, Z, R) {
+    /\.stl$/i.test(O) ? new Ln(Z).load(O, (v) => {
       const oe = new Ce(v, new ve());
       R(oe);
-    }) : /\.dae$/i.test(O) ? new oi(Q).load(O, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${O}.
+    }) : /\.dae$/i.test(O) ? new oi(Z).load(O, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${O}.
 No loader available`);
   }
 }