ss-component-new 1.3.49 → 1.3.50

package/dist/{URDFLoader-Dj_qDDyi.js → URDFLoader-ehXmhBFT.js}

@@ -1,13 +1,13 @@
-import { S as Ln } from "./MTLLoader-EdMOXCr9.js";
-import { bH as vn, b7 as Rn, aJ as lt, aX as At, aK as In, V as pe, a3 as he, bh as dt, H as Mn, b4 as Tt, J as ut, a4 as Le, bo as ft, bI as Sn, $ as ve, bx as Se, M as me, aZ as On, a0 as Gn, aT as Pn, P as ht, bm as qn, U as jn, a$ as Un, _ as Fn, Y as Hn, av as pt, b1 as Et, bu as mt, bw as Bn, ay as zn, aL as ye, bp as Dn, aR as bt, bj as Vn, T as Ce, aA as Jn, bk as Kn, bn as Wn, bd as Oe, bf as gt, bJ as Yn, bK as Xn, bL as yt, bM as $n, bN as Zn, bO as Qn, bP as ei, aP as ti, bQ as ni, bR as ii, a2 as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-Dim6PXfX.js";
+import { S as Ln } from "./MTLLoader-GkOcupU3.js";
+import { bP as vn, bf as Rn, aR as lt, b3 as At, aS as In, V as pe, aa as he, bp as dt, P as Mn, bc as Tt, Q as ut, ab as Le, bw as ft, bQ as Sn, a6 as ve, bF as Se, X as me, b5 as Gn, a7 as On, a$ as Pn, R as ht, bu as qn, a2 as Fn, b7 as Un, a5 as jn, a3 as Hn, aD as pt, b9 as Et, bC as mt, bE as Bn, aG as Dn, aT as ye, bx as zn, aZ as bt, br as Vn, a1 as Ce, aI as Jn, bs as Wn, bv as Kn, bl as Ge, bn as gt, bR as Yn, bS as Xn, bT as yt, bU as $n, bV as Zn, bW as Qn, bX as ei, aX as ti, bY as ni, bZ as ii, a9 as si } from "./index.vue_vue_type_style_index_0_scoped_0f027c8c_lang-DCz-I5jm.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
    *
    * @param {LoadingManager} [manager] - The loading manager.
    */
-  constructor(O) {
-    super(O);
+  constructor(G) {
+    super(G);
   }
   /**
    * Parses the given TGA texture data.
@@ -15,7 +15,7 @@ class wt extends vn {
    * @param {ArrayBuffer} buffer - The raw texture data.
    * @return {DataTextureLoader~TexData} An object representing the parsed texture data.
    */
-  parse(O) {
+  parse(G) {
     function Q(u) {
       switch (u.image_type) {
         // check indexed type
@@ -44,10 +44,10 @@ 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 U, 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) {
+    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(_);
@@ -66,86 +66,86 @@ class wt extends vn {
       } else
         U = X.subarray(
           B,
-          B += W ? D.width * D.height : x
+          B += K ? z.width * z.height : x
         );
       return {
         pixel_data: U,
-        palettes: z
+        palettes: D
       };
     }
-    function se(u, W, D, B, X, U, 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 += U, 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, U, 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 += U, 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, U, 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 += U, 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, U, 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 += U, 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, U, 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 += U, 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, U, 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 += U, 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 U, 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:
-          U = 0, _ = 1, N = W, z = 0, x = 1, f = D;
+          U = 0, _ = 1, N = K, D = 0, x = 1, f = z;
           break;
-        case F:
-          U = 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:
-          U = 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:
-          U = 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 (j)
+      if (F)
         switch (C.pixel_size) {
           case 8:
-            Y(u, z, x, f, U, _, N, B);
+            Y(u, D, x, f, U, _, N, B);
             break;
           case 16:
-            ne(u, z, x, f, U, _, N, B);
+            ne(u, D, x, f, U, _, N, B);
             break;
           default:
             throw new Error("THREE.TGALoader: Format not supported.");
@@ -153,26 +153,26 @@ class wt extends vn {
       else
         switch (C.pixel_size) {
           case 8:
-            se(u, z, x, f, U, _, N, B, X);
+            se(u, D, x, f, U, _, N, B, X);
             break;
           case 16:
-            v(u, z, x, f, U, _, N, B);
+            v(u, D, x, f, U, _, N, B);
             break;
           case 24:
-            oe(u, z, x, f, U, _, N, B);
+            oe(u, D, x, f, U, _, N, B);
             break;
           case 32:
-            I(u, z, x, f, U, _, 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;
-    if (O.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
+    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 (G.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
     let m = 0;
-    const h = new Uint8Array(O), C = {
+    const h = new Uint8Array(G), C = {
       id_length: h[m++],
       colormap_type: h[m++],
       image_type: h[m++],
@@ -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 (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, 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, j = !0;
+        L = !0, F = !0;
         break;
       case ie:
-        j = !0;
+        F = !0;
         break;
     }
     const ae = new Uint8Array(C.width * C.height * 4), te = R(L, k, C, m, h);
@@ -232,13 +232,13 @@ 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) {
-    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) {
+  load(G, Q, R, se) {
+    const v = this, oe = v.path === "" ? At.extractUrlBase(G) : v.path, I = new In(v.manager);
+    I.setPath(v.path), I.setRequestHeader(v.requestHeader), I.setWithCredentials(v.withCredentials), I.load(G, function(Y) {
       try {
         Q(v.parse(Y, oe));
       } catch (ne) {
-        se ? se(ne) : console.error(ne), v.manager.itemError(O);
+        se ? se(ne) : console.error(ne), v.manager.itemError(G);
       }
     }, R, se);
   }
@@ -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(G, Q) {
     function R(t, e) {
       const i = [], n = t.childNodes;
       for (let s = 0, o = n.length; s < o; s++) {
@@ -331,7 +331,7 @@ class oi extends lt {
         let r;
         switch (o.nodeName) {
           case "source":
-            r = o.getAttribute("id"), e.sources[r] = Ge(o);
+            r = o.getAttribute("id"), e.sources[r] = Oe(o);
             break;
           case "sampler":
             r = o.getAttribute("id"), e.samplers[r] = ge(o);
@@ -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 = j(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 j(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 = {};
@@ -553,13 +553,13 @@ class oi extends lt {
               break;
             case "source":
               const o = s.getAttribute("id");
-              e.sources[o] = Ge(s);
+              e.sources[o] = Oe(s);
               break;
             case "joints":
               e.joints = U(s);
               break;
             case "vertex_weights":
-              e.vertexWeights = z(s);
+              e.vertexWeights = D(s);
               break;
           }
       }
@@ -581,7 +581,7 @@ class oi extends lt {
       }
       return e;
     }
-    function z(t) {
+    function D(t) {
       const e = {
         inputs: {}
       };
@@ -624,23 +624,23 @@ class oi extends lt {
       }, n = t.sources, s = t.vertexWeights, o = s.vcount, r = s.v, d = s.inputs.JOINT.offset, c = s.inputs.WEIGHT.offset, l = t.sources[t.joints.inputs.JOINT], g = t.sources[t.joints.inputs.INV_BIND_MATRIX], a = n[s.inputs.WEIGHT.id].array;
       let b = 0, p, w, y;
       for (p = 0, y = o.length; p < y; p++) {
-        const H = o[p], G = [];
+        const H = o[p], O = [];
         for (w = 0; w < H; w++) {
           const P = r[b + d], fe = r[b + c], re = a[fe];
-          G.push({ index: P, weight: re }), b += 2;
+          O.push({ index: P, weight: re }), b += 2;
         }
-        for (G.sort(K), w = 0; w < 4; w++) {
-          const P = G[w];
+        for (O.sort(W), w = 0; w < 4; w++) {
+          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++) {
-        const H = l.array[p], G = new he().fromArray(g.array, p * g.stride).transpose();
-        i.joints.push({ name: H, boneInverse: G });
+        const H = l.array[p], O = new he().fromArray(g.array, p * g.stride).transpose();
+        i.joints.push({ name: H, boneInverse: O });
       }
       return i;
-      function K(H, G) {
-        return G.weight - H.weight;
+      function W(H, O) {
+        return O.weight - H.weight;
       }
     }
     function N(t) {
@@ -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];
@@ -887,13 +887,13 @@ 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) {
+    function Gt(t) {
       const e = {
         name: t.getAttribute("name")
       };
@@ -908,11 +908,11 @@ class oi extends lt {
       }
       T.materials[t.getAttribute("id")] = e;
     }
-    function Gt(t) {
+    function Ot(t) {
       let e, i = t.slice((t.lastIndexOf(".") - 1 >>> 0) + 2);
       switch (i = i.toLowerCase(), i) {
         case "tga":
-          e = je;
+          e = Fe;
           break;
         default:
           e = rt;
@@ -944,14 +944,14 @@ class oi extends lt {
         } else
           console.warn("THREE.ColladaLoader: Undefined sampler. Access image directly (see #12530)."), a = V(c.id);
         if (a !== null) {
-          const b = Gt(a);
+          const b = Ot(a);
           if (b !== void 0) {
             const p = b.load(a), w = c.extra;
             if (w !== void 0 && w.technique !== void 0 && ne(w.technique) === !1) {
               const y = w.technique;
-              p.wrapS = y.wrapU ? Oe : gt, p.wrapT = y.wrapV ? Oe : gt, p.offset.set(y.offsetU || 0, y.offsetV || 0), p.repeat.set(y.repeatU || 1, y.repeatV || 1);
+              p.wrapS = y.wrapU ? Ge : gt, p.wrapT = y.wrapV ? Ge : gt, p.offset.set(y.offsetU || 0, y.offsetV || 0), p.repeat.set(y.repeatU || 1, y.repeatV || 1);
             } else
-              p.wrapS = Oe, p.wrapT = Oe;
+              p.wrapS = Ge, p.wrapT = Ge;
             return l !== null && (p.colorSpace = l), p;
           } else
             return console.warn("THREE.ColladaLoader: Loader for texture %s not found.", a), null;
@@ -1020,10 +1020,10 @@ class oi extends lt {
           const g = c[l];
           switch (l) {
             case "double_sided":
-              n.side = g === 1 ? Gn : Pn;
+              n.side = g === 1 ? On : Pn;
               break;
             case "bump":
-              n.normalMap = s(g.texture), n.normalScale = new On(1, 1);
+              n.normalMap = s(g.texture), n.normalScale = new Gn(1, 1);
               break;
           }
         }
@@ -1042,13 +1042,13 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "optics":
-              e.optics = jt(s);
+              e.optics = Ft(s);
               break;
           }
       }
       T.cameras[t.getAttribute("id")] = e;
     }
-    function jt(t) {
+    function Ft(t) {
       for (let e = 0; e < t.childNodes.length; e++) {
         const i = t.childNodes[e];
         switch (i.nodeName) {
@@ -1065,13 +1065,13 @@ class oi extends lt {
         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 Un();
           break;
         case "ambient":
-          e = new jn();
+          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 = {
@@ -1208,10 +1208,10 @@ class oi extends lt {
           const o = s.getAttribute("id");
           switch (s.nodeName) {
             case "source":
-              e.sources[o] = Ge(s);
+              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);
@@ -1229,7 +1229,7 @@ class oi extends lt {
         T.geometries[t.getAttribute("id")] = e;
       }
     }
-    function Ge(t) {
+    function Oe(t) {
       const e = {
         array: [],
         stride: 3
@@ -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":
@@ -1326,8 +1326,8 @@ class oi extends lt {
             H = y.count * 3;
             break;
           case "polylist":
-            for (let G = 0; G < y.count; G++) {
-              const P = y.vcount[G];
+            for (let O = 0; O < y.count; O++) {
+              const P = y.vcount[O];
               switch (P) {
                 case 3:
                   H += 3;
@@ -1345,9 +1345,9 @@ 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];
-          switch (G) {
+        for (const O in W) {
+          const P = W[O];
+          switch (O) {
             case "VERTEX":
               for (const fe in i) {
                 const re = i[fe];
@@ -1417,15 +1417,15 @@ 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, 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++) {
-              const H = a + r * 0, G = a + r * y, P = a + r * (y + 1);
-              c(H), c(G), c(P);
+            for (let y = 1, W = w - 2; y <= W; y++) {
+              const H = a + r * 0, O = a + r * y, P = a + r * (y + 1);
+              c(H), c(O), c(P);
             }
           a += r * w;
         }
@@ -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 = {
@@ -1699,11 +1699,11 @@ 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];
-                if (G.sid && G.sid.indexOf(g) !== -1)
+              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":
                       ce.multiply(l.makeRotationAxis(y, Le.degToRad(a)));
@@ -1716,18 +1716,18 @@ class oi extends lt {
                       break;
                   }
                 else
-                  switch (G.type) {
+                  switch (O.type) {
                     case "matrix":
-                      ce.multiply(G.obj);
+                      ce.multiply(O.obj);
                       break;
                     case "translate":
-                      ce.multiply(l.makeTranslation(G.obj.x, G.obj.y, G.obj.z));
+                      ce.multiply(l.makeTranslation(O.obj.x, O.obj.y, O.obj.z));
                       break;
                     case "scale":
-                      ce.scale(G.obj);
+                      ce.scale(O.obj);
                       break;
                     case "rotate":
-                      ce.multiply(l.makeRotationAxis(G.obj, G.angle));
+                      ce.multiply(l.makeRotationAxis(O.obj, O.angle));
                       break;
                   }
               }
@@ -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, 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, O = w.skin.joints, P = bn(H, O);
+        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 = "";
@@ -2056,9 +2056,9 @@ class oi extends lt {
       }
       return e.trim();
     }
-    if (O.length === 0)
+    if (G.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(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;
@@ -2069,8 +2069,8 @@ class oi extends lt {
     console.debug("THREE.ColladaLoader: File version", xn);
     const ot = we(R(Z, "asset")[0]), rt = new Tt(this.manager);
     rt.setPath(this.resourcePath || Q).setCrossOrigin(this.crossOrigin);
-    let je;
-    wt && (je = new wt(this.manager), je.setPath(this.resourcePath || Q));
+    let Fe;
+    wt && (Fe = new wt(this.manager), Fe.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", 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();
+    $(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, 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(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() {
@@ -2103,25 +2103,25 @@ class oi extends lt {
 }
 const Ue = new Et(), kt = new si();
 function _e(ue) {
-  return ue ? ue.trim().split(/\s+/g).map((O) => parseFloat(O)) : [0, 0, 0];
+  return ue ? ue.trim().split(/\s+/g).map((G) => parseFloat(G)) : [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"), Ue.setFromEuler(kt), Ue.multiply(ue.quaternion), ue.quaternion.copy(Ue);
+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);
 }
 class ci {
-  constructor(O) {
-    this.manager = O || Yn, this.loadMeshCb = this.defaultMeshLoader.bind(this), this.parseVisual = !0, this.parseCollision = !1, this.packages = "", this.workingPath = "", this.fetchOptions = {};
+  constructor(G) {
+    this.manager = G || Yn, this.loadMeshCb = this.defaultMeshLoader.bind(this), this.parseVisual = !0, this.parseCollision = !1, this.packages = "", this.workingPath = "", this.fetchOptions = {};
   }
   /* Public API */
-  loadAsync(O) {
+  loadAsync(G) {
     return new Promise((Q, R) => {
-      this.load(O, Q, null, R);
+      this.load(G, Q, 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) {
-    const v = this.manager, oe = At.extractUrlBase(O), I = this.manager.resolveURL(O);
+  load(G, Q, R, se) {
+    const v = this.manager, oe = At.extractUrlBase(G), I = this.manager.resolveURL(G);
     v.itemStart(I), fetch(I, this.fetchOptions).then((Y) => {
       if (Y.ok)
         return R && R(null), Y.text();
@@ -2133,35 +2133,35 @@ class ci {
       se ? se(Y) : console.error("URDFLoader: Error loading file.", Y), v.itemError(I), v.itemEnd(I);
     });
   }
-  parse(O, Q = this.workingPath) {
+  parse(G, Q = 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(/\/(.+)/);
+      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 $(M) {
-      const q = [...M.children], F = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      const q = [...M.children], j = q.filter((L) => L.nodeName.toLowerCase() === "link"), E = q.filter((L) => L.nodeName.toLowerCase() === "joint"), J = q.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
         const k = L.getAttribute("name");
         we[k] = be(L);
       });
       const m = {}, h = {};
-      F.forEach((L) => {
-        const k = L.getAttribute("name"), j = M.querySelector(`child[link="${k}"]`) === null;
-        Y[k] = ee(L, m, h, j ? 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(), j = (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) => {
-            j(te);
+            F(te);
           });
         };
-        j(L);
+        F(L);
       }), S.frames = {
         ...h,
         ...m,
@@ -2186,23 +2186,23 @@ 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 j = k.nodeName.toLowerCase();
-        j === "origin" ? (h = _e(k.getAttribute("xyz")), C = _e(k.getAttribute("rpy"))) : j === "child" ? m = Y[k.getAttribute("link")] : j === "parent" ? S = Y[k.getAttribute("link")] : j === "limit" && (E.limit.lower = parseFloat(k.getAttribute("lower") || E.limit.lower), E.limit.upper = parseFloat(k.getAttribute("upper") || E.limit.upper));
+        const 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((j) => parseFloat(j));
+        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) {
+    function ee(M, q, j, E = null) {
       E === null && (E = new Zn());
       const J = [...M.children];
       return E.name = M.getAttribute("name"), E.urdfName = E.name, E.urdfNode = M, v && J.filter((m) => m.nodeName.toLowerCase() === "visual").forEach((m) => {
@@ -2215,28 +2215,28 @@ class ci {
         const h = ge(m);
         if (E.add(h), m.hasAttribute("name")) {
           const C = m.getAttribute("name");
-          h.name = C, h.urdfName = C, 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 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"), 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(j, 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 j = _e(h.children[0].getAttribute("size"));
-            k.scale.set(j[0], j[1], j[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 j = parseFloat(h.children[0].getAttribute("radius")) || 0;
-            k.scale.set(j, j, j), 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 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 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"));
@@ -2283,14 +2283,14 @@ class ci {
         }
       }), m;
     }
-    return Ne(O);
+    return Ne(G);
   }
   // Default mesh loading function
-  defaultMeshLoader(O, Q, R) {
-    /\.stl$/i.test(O) ? new Ln(Q).load(O, (v) => {
+  defaultMeshLoader(G, Q, R) {
+    /\.stl$/i.test(G) ? new Ln(Q).load(G, (v) => {
       const oe = new Ce(v, new ve());
       R(oe);
-    }) : /\.dae$/i.test(O) ? new oi(Q).load(O, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${O}.
+    }) : /\.dae$/i.test(G) ? new oi(Q).load(G, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${G}.
 No loader available`);
   }
 }