ss-component-new 1.3.418 → 1.3.419

package/dist/{URDFLoader-BPsQJXGk.js → URDFLoader-D5_AfgKz.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-B1YI5QZW.js";
-import { b1 as vn, at as Rn, J as lt, ah as At, K as In, V as pe, n as he, aD as dt, S as Mn, aq as Tt, C as ut, o as Le, aK as ft, b2 as Sn, k as ve, aT as Se, c as me, aj as Gn, l as On, $ as qn, P as ht, aI as Pn, i as jn, al as Fn, j as Un, D as Hn, s as pt, an as Et, aQ as mt, aS as Bn, u as Dn, N as ye, aL as zn, Z as bt, aF as Vn, h as Ce, w as Jn, aG as Kn, aJ as Wn, az as Ge, aB as gt, b3 as Yn, b4 as Xn, b5 as yt, b6 as $n, b7 as Zn, b8 as Qn, b9 as ei, U as ti, ba as ni, bb as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-CLp-qGr4.js";
+import { S as Ln } from "./MTLLoader-B7rDleqK.js";
+import { b2 as vn, au as Rn, J as lt, ai as At, K as In, V as pe, n as he, aE as dt, S as Mn, ar as Tt, C as ut, o as Le, aL as ft, b3 as Sn, k as ve, aU as Se, c as me, ak as Gn, l as On, $ as Pn, P as ht, aJ as qn, i as Un, am as jn, j as Fn, D as Hn, s as pt, ao as Et, aR as mt, aT as Bn, u as Dn, N as ye, aM as zn, Z as bt, aG as Vn, h as Ce, w as Jn, aH as Kn, aK as Wn, aA as Ge, aC as gt, b4 as Yn, b5 as Xn, b6 as yt, b7 as $n, b8 as Zn, b9 as Qn, ba as ei, U as ti, bb as ni, bc as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_6b92e250_lang-BtzbgmrV.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;
-      switch ((C.flags & M) >> P) {
+      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, P = 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);
@@ -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 P(t) {
+    function q(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 U(t) {
-      return ee(T.animations[t], P);
+    function F(t) {
+      return ee(T.animations[t], q);
     }
     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();
@@ -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: {}
       };
@@ -626,12 +626,12 @@ class oi extends lt {
       for (p = 0, y = o.length; p < y; p++) {
         const H = o[p], O = [];
         for (w = 0; w < H; w++) {
-          const q = r[b + d], fe = r[b + c], re = a[fe];
-          O.push({ index: q, weight: re }), b += 2;
+          const P = r[b + d], fe = r[b + c], re = a[fe];
+          O.push({ index: P, weight: re }), b += 2;
         }
         for (O.sort(K), 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));
+          const P = O[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));
         }
       }
       for (t.bindShapeMatrix ? i.bindMatrix = new he().fromArray(t.bindShapeMatrix).transpose() : i.bindMatrix = new he().identity(), p = 0, y = l.array.length; p < y; p++) {
@@ -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;
@@ -1020,7 +1020,7 @@ class oi extends lt {
           const g = c[l];
           switch (l) {
             case "double_sided":
-              n.side = g === 1 ? On : qn;
+              n.side = g === 1 ? On : Pn;
               break;
             case "bump":
               n.normalMap = s(g.texture), n.normalScale = new Gn(1, 1);
@@ -1030,10 +1030,10 @@ class oi extends lt {
       }
       return n;
     }
-    function qt(t) {
+    function Pt(t) {
       return ee(T.materials[t], Ve);
     }
-    function Pt(t) {
+    function qt(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 = 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];
@@ -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 Pn(
+          n = n === void 0 ? i * s : n, i = i === void 0 ? n / s : i, n *= 0.5, i *= 0.5, e = new qn(
             -n,
             n,
             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;
@@ -1327,8 +1327,8 @@ class oi extends lt {
             break;
           case "polylist":
             for (let O = 0; O < y.count; O++) {
-              const q = y.vcount[O];
-              switch (q) {
+              const P = y.vcount[O];
+              switch (P) {
                 case 3:
                   H += 3;
                   break;
@@ -1336,7 +1336,7 @@ class oi extends lt {
                   H += 6;
                   break;
                 default:
-                  H += (q - 2) * 3;
+                  H += (P - 2) * 3;
                   break;
               }
             }
@@ -1346,7 +1346,7 @@ class oi extends lt {
         }
         a.addGroup(p, H, w), p += H, y.material && b.push(y.material);
         for (const O in K) {
-          const q = K[O];
+          const P = K[O];
           switch (O) {
             case "VERTEX":
               for (const fe in i) {
@@ -1354,23 +1354,23 @@ class oi extends lt {
                 switch (fe) {
                   case "POSITION":
                     const xe = s.array.length;
-                    if (de(y, e[re], q.offset, s.array), s.stride = e[re].stride, e.skinWeights && e.skinIndices && (de(y, e.skinIndices, q.offset, l.array), de(y, e.skinWeights, q.offset, g.array)), y.hasUV === !1 && t.uvsNeedsFix === !0) {
+                    if (de(y, e[re], P.offset, s.array), s.stride = e[re].stride, e.skinWeights && e.skinIndices && (de(y, e.skinIndices, P.offset, l.array), de(y, e.skinWeights, P.offset, g.array)), y.hasUV === !1 && t.uvsNeedsFix === !0) {
                       const Cn = (s.array.length - xe) / s.stride;
                       for (let ct = 0; ct < Cn; ct++)
                         r.array.push(0, 0);
                     }
                     break;
                   case "NORMAL":
-                    de(y, e[re], q.offset, o.array), o.stride = e[re].stride;
+                    de(y, e[re], P.offset, o.array), o.stride = e[re].stride;
                     break;
                   case "COLOR":
-                    de(y, e[re], q.offset, c.array), c.stride = e[re].stride;
+                    de(y, e[re], P.offset, c.array), c.stride = e[re].stride;
                     break;
                   case "TEXCOORD":
-                    de(y, e[re], q.offset, r.array), r.stride = e[re].stride;
+                    de(y, e[re], P.offset, r.array), r.stride = e[re].stride;
                     break;
                   case "TEXCOORD1":
-                    de(y, e[re], q.offset, d.array), r.stride = e[re].stride;
+                    de(y, e[re], P.offset, d.array), r.stride = e[re].stride;
                     break;
                   default:
                     console.warn('THREE.ColladaLoader: Semantic "%s" not handled in geometry build process.', fe);
@@ -1378,16 +1378,16 @@ class oi extends lt {
               }
               break;
             case "NORMAL":
-              de(y, e[q.id], q.offset, o.array), o.stride = e[q.id].stride;
+              de(y, e[P.id], P.offset, o.array), o.stride = e[P.id].stride;
               break;
             case "COLOR":
-              de(y, e[q.id], q.offset, c.array, !0), c.stride = e[q.id].stride;
+              de(y, e[P.id], P.offset, c.array, !0), c.stride = e[P.id].stride;
               break;
             case "TEXCOORD":
-              de(y, e[q.id], q.offset, r.array), r.stride = e[q.id].stride;
+              de(y, e[P.id], P.offset, r.array), r.stride = e[P.id].stride;
               break;
             case "TEXCOORD1":
-              de(y, e[q.id], q.offset, d.array), d.stride = e[q.id].stride;
+              de(y, e[P.id], P.offset, d.array), d.stride = e[P.id].stride;
               break;
           }
         }
@@ -1424,8 +1424,8 @@ class oi extends lt {
             c(y), c(K), c(H);
           } else if (w > 4)
             for (let y = 1, K = w - 2; y <= K; y++) {
-              const H = a + r * 0, O = a + r * y, q = a + r * (y + 1);
-              c(H), c(O), c(q);
+              const H = a + r * 0, O = a + r * y, P = a + r * (y + 1);
+              c(H), c(O), c(P);
             }
           a += r * w;
         }
@@ -1784,7 +1784,7 @@ class oi extends lt {
       }
     }
     const ce = new he(), Te = new pe();
-    function qe(t) {
+    function Pe(t) {
       const e = {
         name: t.getAttribute("name") || "",
         type: t.getAttribute("type"),
@@ -1805,7 +1805,7 @@ class oi extends lt {
         let s;
         switch (n.nodeName) {
           case "node":
-            e.nodes.push(n.getAttribute("id")), qe(n);
+            e.nodes.push(n.getAttribute("id")), Pe(n);
             break;
           case "instance_camera":
             e.instanceCameras.push(I(n.getAttribute("url")));
@@ -1924,10 +1924,10 @@ 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);
+        const p = r[a], w = N(p.id), y = Ye(w.id), K = et(y, p.materials), H = p.skeletons, O = w.skin.joints, P = bn(H, O);
         for (let fe = 0, re = K.length; fe < re; fe++) {
           const xe = K[fe];
-          xe.isSkinnedMesh && (xe.bind(q, w.skin.bindMatrix), xe.normalizeSkinWeights()), e.push(xe);
+          xe.isSkinnedMesh && (xe.bind(P, w.skin.bindMatrix), xe.normalizeSkinWeights()), e.push(xe);
         }
       }
       for (let a = 0, b = d.length; a < b; a++) {
@@ -1959,7 +1959,7 @@ class oi extends lt {
       const i = [];
       for (let n = 0, s = t.length; n < s; n++) {
         const o = e[t[n]];
-        o === void 0 ? (console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.", t[n]), i.push(yn)) : i.push(qt(o));
+        o === void 0 ? (console.warn("THREE.ColladaLoader: Material with key %s not found. Apply fallback material.", t[n]), i.push(yn)) : i.push(Pt(o));
       }
       return i;
     }
@@ -2007,7 +2007,7 @@ class oi extends lt {
       mn(t);
       const i = R(t, "node");
       for (let n = 0; n < i.length; n++)
-        e.children.push(qe(i[n]));
+        e.children.push(Pe(i[n]));
       T.visualScenes[t.getAttribute("id")] = e;
     }
     function nt(t) {
@@ -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]);
           }
@@ -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], Pe = st.getElementsByTagName("parsererror")[0];
-    if (Pe !== void 0) {
-      const t = R(Pe, "div")[0];
+    const st = new DOMParser().parseFromString(G, "application/xml"), Z = 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(Pe), console.error(`THREE.ColladaLoader: Failed to parse collada file.
+      return t ? e = t.textContent : e = En(qe), 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 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 = {
@@ -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", 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, 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", 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, ze), 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]);
     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 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 [P, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [q, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(P) ? R + "/" + U : R + "/" + P + "/" + U;
+        return R.endsWith(q) ? R + "/" + F : R + "/" + q + "/" + F;
       if (R instanceof Function)
-        return R(P) + "/" + U;
+        return R(q) + "/" + F;
       if (typeof R == "object")
-        return P in R ? R[P] + "/" + U : (console.error(`URDFLoader : ${P} 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 P;
-      M instanceof Document ? P = [...M.children] : M instanceof Element ? P = [M] : P = [...new DOMParser().parseFromString(M, "text/xml").children];
-      const U = P.filter((E) => E.nodeName === "robot").pop();
-      return $(U);
+      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);
     }
     function $(M) {
-      const P = [...M.children], U = P.filter((L) => L.nodeName.toLowerCase() === "link"), E = P.filter((L) => L.nodeName.toLowerCase() === "joint"), J = P.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      const q = [...M.children], F = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
         const k = L.getAttribute("name");
         we[k] = be(L);
       });
       const m = {}, h = {};
-      U.forEach((L) => {
-        const k = L.getAttribute("name"), j = M.querySelector(`child[link="${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,
@@ -2186,96 +2186,96 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const P = [...M.children], U = M.getAttribute("type");
+      const q = [...M.children], F = M.getAttribute("type");
       let E;
-      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 = U;
+      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;
       let S = null, m = null, h = [0, 0, 0], C = [0, 0, 0];
-      P.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));
+      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));
       }), S.add(E), E.add(m), Nt(E, C), E.position.set(h[0], h[1], h[2]);
-      const L = P.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
+      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, P, 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) => {
         const h = ge(m, we);
         if (E.add(h), m.hasAttribute("name")) {
           const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, P[C] = h;
+          h.name = C, h.urdfName = C, q[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, U[C] = h;
+          h.name = C, h.urdfName = C, F[C] = h;
         }
       }), E;
     }
     function be(M) {
-      const P = [...M.children], U = new ve();
-      return U.name = M.getAttribute("name") || "", P.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, P = {}) {
-      const U = M.nodeName.toLowerCase() === "collision", E = [...M.children];
+    function ge(M, q = {}) {
+      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 P ? J = P[h] : J = be(S);
+        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"));