ss-component-new 1.3.682 → 1.3.684

package/dist/{URDFLoader-D3eMTiZb.js → URDFLoader-BAROJ9ka.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-qT5QxtXm.js";
-import { b7 as vn, az as Rn, R as lt, an as At, U as In, V as pe, n as he, aJ as dt, S as Mn, aw as Tt, C as ut, p as Le, aQ as ft, b8 as Sn, k as ve, aZ as Se, c as me, ap as On, l as Gn, a4 as Fn, P as ht, aO as Pn, i as qn, ar as jn, j as Un, D as zn, s as pt, at as Et, aW as mt, aY as Hn, u as Bn, Y as we, aR as Dn, a2 as bt, aL as Vn, h as Ce, w as Jn, aM as Wn, aP as Kn, aF as Oe, aH as gt, b9 as Yn, ba as Xn, bb as yt, bc as $n, bd as Zn, be as Qn, bf as ei, a0 as ti, bg as ni, bh as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_83e6d490_lang-QPys2KyW.js";
+import { S as Ln } from "./MTLLoader-DzMo1SNe.js";
+import { bg as vn, aI as Rn, R as lt, aw as At, U as In, V as pe, n as he, aS as dt, S as Mn, aF as Tt, C as ut, p as Le, aZ as ft, bh as Sn, k as ve, b6 as Se, c as me, ay as On, l as Gn, a4 as Fn, P as ht, aX as qn, i as Pn, aA as jn, j as Un, D as zn, s as pt, aC as Et, b3 as mt, b5 as Hn, u as Bn, Y as we, a_ as Dn, a2 as bt, aU as Vn, h as Ce, w as Jn, aV as Kn, aY as Wn, aO as Oe, aQ as gt, bi as Yn, bj as Xn, bk as yt, bl as $n, bm as Zn, bn as Qn, bo as ei, a0 as ti, bp as ni, bq as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_83e6d490_lang-LGVq0cuS.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
@@ -44,10 +44,10 @@ class wt extends vn {
       if (f.pixel_size !== 8 && f.pixel_size !== 16 && f.pixel_size !== 24 && f.pixel_size !== 32)
         throw new Error("THREE.TGALoader: Invalid pixel size " + f.pixel_size);
     }
-    function R(f, K, V, H, X) {
+    function R(f, W, V, H, X) {
       let j, B;
       const v = V.pixel_size >> 3, _ = V.width * V.height * v;
-      if (K && (B = X.subarray(H, H += V.colormap_length * (V.colormap_size >> 3))), f) {
+      if (W && (B = X.subarray(H, H += V.colormap_length * (V.colormap_size >> 3))), f) {
         j = new Uint8Array(_);
         let A, h, T, J = 0;
         const le = new Uint8Array(v);
@@ -66,80 +66,80 @@ class wt extends vn {
       } else
         j = X.subarray(
           H,
-          H += K ? V.width * V.height : _
+          H += W ? V.width * V.height : _
         );
       return {
         pixel_data: j,
         palettes: B
       };
     }
-    function se(f, K, V, H, X, j, B, v, _) {
+    function se(f, W, V, H, X, j, B, v, _) {
       const A = _;
       let h, T = 0, J, le;
       const Te = L.width;
-      for (le = K; le !== H; le += V)
+      for (le = W; le !== H; le += V)
         for (J = X; J !== B; J += j, T++)
           h = v[T], f[(J + Te * le) * 4 + 3] = 255, f[(J + Te * le) * 4 + 2] = A[h * 3 + 0], f[(J + Te * le) * 4 + 1] = A[h * 3 + 1], f[(J + Te * le) * 4 + 0] = A[h * 3 + 2];
       return f;
     }
-    function C(f, K, V, H, X, j, B, v) {
+    function C(f, W, V, H, X, j, B, v) {
       let _, A = 0, h, T;
       const J = L.width;
-      for (T = K; T !== H; T += V)
+      for (T = W; T !== H; T += V)
         for (h = X; h !== B; h += j, A += 2)
           _ = v[A + 0] + (v[A + 1] << 8), f[(h + J * T) * 4 + 0] = (_ & 31744) >> 7, f[(h + J * T) * 4 + 1] = (_ & 992) >> 2, f[(h + J * T) * 4 + 2] = (_ & 31) << 3, f[(h + J * T) * 4 + 3] = _ & 32768 ? 0 : 255;
       return f;
     }
-    function oe(f, K, V, H, X, j, B, v) {
+    function oe(f, W, V, H, X, j, B, v) {
       let _ = 0, A, h;
       const T = L.width;
-      for (h = K; h !== H; h += V)
+      for (h = W; h !== H; h += V)
         for (A = X; A !== B; A += j, _ += 3)
           f[(A + T * h) * 4 + 3] = 255, f[(A + T * h) * 4 + 2] = v[_ + 0], f[(A + T * h) * 4 + 1] = v[_ + 1], f[(A + T * h) * 4 + 0] = v[_ + 2];
       return f;
     }
-    function I(f, K, V, H, X, j, B, v) {
+    function I(f, W, V, H, X, j, B, v) {
       let _ = 0, A, h;
       const T = L.width;
-      for (h = K; h !== H; h += V)
+      for (h = W; h !== H; h += V)
         for (A = X; A !== B; A += j, _ += 4)
           f[(A + T * h) * 4 + 2] = v[_ + 0], f[(A + T * h) * 4 + 1] = v[_ + 1], f[(A + T * h) * 4 + 0] = v[_ + 2], f[(A + T * h) * 4 + 3] = v[_ + 3];
       return f;
     }
-    function Y(f, K, V, H, X, j, B, v) {
+    function Y(f, W, V, H, X, j, B, v) {
       let _, A = 0, h, T;
       const J = L.width;
-      for (T = K; T !== H; T += V)
+      for (T = W; T !== H; T += V)
         for (h = X; h !== B; h += j, A++)
           _ = v[A], f[(h + J * T) * 4 + 0] = _, f[(h + J * T) * 4 + 1] = _, f[(h + J * T) * 4 + 2] = _, f[(h + J * T) * 4 + 3] = 255;
       return f;
     }
-    function ne(f, K, V, H, X, j, B, v) {
+    function ne(f, W, V, H, X, j, B, v) {
       let _ = 0, A, h;
       const T = L.width;
-      for (h = K; h !== H; h += V)
+      for (h = W; h !== H; h += V)
         for (A = X; A !== B; A += j, _ += 2)
           f[(A + T * h) * 4 + 0] = v[_ + 0], f[(A + T * h) * 4 + 1] = v[_ + 0], f[(A + T * h) * 4 + 2] = v[_ + 0], f[(A + T * h) * 4 + 3] = v[_ + 1];
       return f;
     }
-    function ke(f, K, V, H, X) {
+    function ke(f, W, V, H, X) {
       let j, B, v, _, A, h;
-      switch ((L.flags & M) >> P) {
+      switch ((L.flags & M) >> q) {
         default:
         case D:
-          j = 0, v = 1, A = K, B = 0, _ = 1, h = V;
+          j = 0, v = 1, A = W, B = 0, _ = 1, h = V;
           break;
         case U:
-          j = 0, v = 1, A = K, B = V - 1, _ = -1, h = -1;
+          j = 0, v = 1, A = W, B = V - 1, _ = -1, h = -1;
           break;
         case S:
-          j = K - 1, v = -1, A = -1, B = 0, _ = 1, h = V;
+          j = W - 1, v = -1, A = -1, B = 0, _ = 1, h = V;
           break;
         case b:
-          j = K - 1, v = -1, A = -1, B = V - 1, _ = -1, h = -1;
+          j = W - 1, v = -1, A = -1, B = V - 1, _ = -1, h = -1;
           break;
       }
-      if (q)
+      if (P)
         switch (L.pixel_size) {
           case 8:
             Y(f, B, _, h, j, v, A, H);
@@ -169,7 +169,7 @@ class wt extends vn {
         }
       return f;
     }
-    const Ne = 0, Ae = 1, $ = 2, ie = 3, ee = 9, be = 10, ye = 11, M = 48, P = 4, U = 0, b = 1, D = 2, S = 3;
+    const Ne = 0, Ae = 1, $ = 2, ie = 3, ee = 9, be = 10, ye = 11, M = 48, q = 4, U = 0, b = 1, D = 2, S = 3;
     if (O.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
     let p = 0;
     const d = new Uint8Array(O), L = {
@@ -191,7 +191,7 @@ class wt extends vn {
     if (Q(L), L.id_length + p > O.length)
       throw new Error("THREE.TGALoader: No data.");
     p += L.id_length;
-    let x = !1, k = !1, q = !1;
+    let x = !1, k = !1, P = !1;
     switch (L.image_type) {
       case ee:
         x = !0, k = !0;
@@ -205,10 +205,10 @@ class wt extends vn {
       case $:
         break;
       case ye:
-        x = !0, q = !0;
+        x = !0, P = !0;
         break;
       case ie:
-        q = !0;
+        P = !0;
         break;
     }
     const ae = new Uint8Array(L.width * L.height * 4), te = R(x, k, L, p, d);
@@ -381,7 +381,7 @@ class oi extends lt {
       }
       return e.id = s, e.sid = o, e.arraySyntax = r, e.memberSyntax = u, 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)) {
@@ -391,7 +391,7 @@ class oi extends lt {
       return e;
     }
     function U(t) {
-      return ee(E.animations[t], P);
+      return ee(E.animations[t], q);
     }
     function b(t, e, i) {
       const n = E.nodes[t.id], s = xe(n.id), o = n.transforms[t.sid], r = n.matrix.clone().transpose();
@@ -401,8 +401,8 @@ class oi extends lt {
         case "matrix":
           for (l = 0, y = e.array.length; l < y; l++)
             if (u = e.array[l], c = l * i.stride, m[u] === void 0 && (m[u] = {}), t.arraySyntax === !0) {
-              const W = i.array[c], z = t.indices[0] + 4 * t.indices[1];
-              m[u][z] = W;
+              const K = i.array[c], z = t.indices[0] + 4 * t.indices[1];
+              m[u][z] = K;
             } else
               for (a = 0, g = i.stride; a < g; a++)
                 m[u][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 = q(t, s, e), n = ae(t, s, e), i === null) {
+          if (i = P(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 q(t, e, i) {
+    function P(t, e, i) {
       for (; e >= 0; ) {
         const n = t[e];
         if (n.value[i] !== null) return n;
@@ -512,7 +512,7 @@ class oi extends lt {
       }
       E.clips[t.getAttribute("id")] = e;
     }
-    function K(t) {
+    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 u = U(s[o]);
@@ -522,7 +522,7 @@ class oi extends lt {
       return new ft(i, n, e);
     }
     function V(t) {
-      return ee(E.clips[t], K);
+      return ee(E.clips[t], W);
     }
     function H(t) {
       const e = {};
@@ -629,7 +629,7 @@ class oi extends lt {
           const F = r[g + u], fe = r[g + c], re = a[fe];
           G.push({ index: F, weight: re }), g += 2;
         }
-        for (G.sort(W), N = 0; N < 4; N++) {
+        for (G.sort(K), N = 0; N < 4; N++) {
           const F = G[N];
           F !== void 0 ? (i.indices.array.push(F.index), i.weights.array.push(F.weight)) : (i.indices.array.push(0), i.weights.array.push(0));
         }
@@ -639,7 +639,7 @@ class oi extends lt {
         i.joints.push({ name: z, boneInverse: G });
       }
       return i;
-      function W(z, G) {
+      function K(z, G) {
         return G.weight - z.weight;
       }
     }
@@ -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 = qe;
+          e = Pe;
           break;
         default:
           e = rt;
@@ -1033,7 +1033,7 @@ class oi extends lt {
     function Ft(t) {
       return ee(E.materials[t], Ve);
     }
-    function Pt(t) {
+    function qt(t) {
       const e = {
         name: t.getAttribute("name")
       };
@@ -1042,13 +1042,13 @@ class oi extends lt {
         if (s.nodeType === 1)
           switch (s.nodeName) {
             case "optics":
-              e.optics = qt(s);
+              e.optics = Pt(s);
               break;
           }
       }
       E.cameras[t.getAttribute("id")] = e;
     }
-    function qt(t) {
+    function Pt(t) {
       for (let e = 0; e < t.childNodes.length; e++) {
         const i = t.childNodes[e];
         switch (i.nodeName) {
@@ -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,
@@ -1172,7 +1172,7 @@ class oi extends lt {
       }
       return e;
     }
-    function We(t) {
+    function Ke(t) {
       let e;
       switch (t.technique) {
         case "directional":
@@ -1185,14 +1185,14 @@ class oi extends lt {
           e = new jn();
           break;
         case "ambient":
-          e = new qn();
+          e = new Pn();
           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 = E.lights[t];
-      return e !== void 0 ? ee(e, We) : (console.warn("THREE.ColladaLoader: Couldn't find light with ID:", t), null);
+      return e !== void 0 ? ee(e, Ke) : (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 = Wt(s);
+              e.vertices = Kt(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(Kt(s));
+              e.primitives.push(Wt(s));
               break;
             default:
               console.log(s);
@@ -1252,7 +1252,7 @@ class oi extends lt {
       }
       return e;
     }
-    function Wt(t) {
+    function Kt(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 Kt(t) {
+    function Wt(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 Ke(t) {
+    function We(t) {
       const e = {}, i = t.sources, n = t.vertices, s = t.primitives;
       if (s.length === 0) return {};
       const o = Yt(s);
@@ -1315,7 +1315,7 @@ class oi extends lt {
       const n = {}, s = { array: [], stride: 0 }, o = { array: [], stride: 0 }, r = { array: [], stride: 0 }, u = { array: [], stride: 0 }, c = { array: [], stride: 0 }, l = { array: [], stride: 4 }, y = { array: [], stride: 4 }, a = new Bn(), g = [];
       let m = 0;
       for (let N = 0; N < t.length; N++) {
-        const w = t[N], W = w.inputs;
+        const w = t[N], K = w.inputs;
         let z = 0;
         switch (w.type) {
           case "lines":
@@ -1345,8 +1345,8 @@ class oi extends lt {
             console.warn("THREE.ColladaLoader: Unknown primitive type:", w.type);
         }
         a.addGroup(m, z, N), m += z, w.material && g.push(w.material);
-        for (const G in W) {
-          const F = W[G];
+        for (const G in K) {
+          const F = K[G];
           switch (G) {
             case "VERTEX":
               for (const fe in i) {
@@ -1417,13 +1417,13 @@ class oi extends lt {
         for (let g = 0, m = u.length; g < m; g++) {
           const N = u[g];
           if (N === 4) {
-            const w = a + r * 0, W = a + r * 1, z = a + r * 2, G = a + r * 3;
-            c(w), c(W), c(G), c(W), c(z), c(G);
+            const w = a + r * 0, K = a + r * 1, z = a + r * 2, G = a + r * 3;
+            c(w), c(K), c(G), c(K), c(z), c(G);
           } else if (N === 3) {
-            const w = a + r * 0, W = a + r * 1, z = a + r * 2;
-            c(w), c(W), c(z);
+            const w = a + r * 0, K = a + r * 1, z = a + r * 2;
+            c(w), c(K), c(z);
           } else if (N > 4)
-            for (let w = 1, W = N - 2; w <= W; w++) {
+            for (let w = 1, K = N - 2; w <= K; w++) {
               const z = a + r * 0, G = a + r * w, F = a + r * (w + 1);
               c(z), c(G), c(F);
             }
@@ -1434,7 +1434,7 @@ class oi extends lt {
           c(a);
     }
     function Ye(t) {
-      return ee(E.geometries[t], Ke);
+      return ee(E.geometries[t], We);
     }
     function Zt(t) {
       const e = {
@@ -1699,10 +1699,10 @@ class oi extends lt {
             else if (m.static)
               console.warn("THREE.ColladaLoader: Joint " + y + " is static.");
             else {
-              const N = g.object, w = m.axis, W = g.transforms;
+              const N = g.object, w = m.axis, K = g.transforms;
               ce.identity();
-              for (let z = 0; z < W.length; z++) {
-                const G = W[z];
+              for (let z = 0; z < K.length; z++) {
+                const G = K[z];
                 if (G.sid && G.sid.indexOf(y) !== -1)
                   switch (m.type) {
                     case "revolute":
@@ -1898,7 +1898,7 @@ class oi extends lt {
       const u = [], c = [];
       for (s = 0; s < n.length; s++)
         r = n[s], u.push(r.bone), c.push(r.boneInverse);
-      return new Kn(u, c);
+      return new Wn(u, c);
     }
     function Qe(t, e, i) {
       t.traverse(function(n) {
@@ -1924,9 +1924,9 @@ class oi extends lt {
         m !== null && e.push(m.clone());
       }
       for (let a = 0, g = r.length; a < g; a++) {
-        const m = r[a], N = A(m.id), w = Ye(N.id), W = et(w, m.materials), z = m.skeletons, G = N.skin.joints, F = bn(z, G);
-        for (let fe = 0, re = W.length; fe < re; fe++) {
-          const _e = W[fe];
+        const m = r[a], N = A(m.id), w = Ye(N.id), K = et(w, m.materials), z = m.skeletons, G = N.skin.joints, F = bn(z, G);
+        for (let fe = 0, re = K.length; fe < re; fe++) {
+          const _e = K[fe];
           _e.isSkinnedMesh && (_e.bind(F, N.skin.bindMatrix), _e.normalizeSkinWeights()), e.push(_e);
         }
       }
@@ -1936,8 +1936,8 @@ class oi extends lt {
       }
       for (let a = 0, g = c.length; a < g; a++) {
         const m = c[a], N = Ye(m.id), w = et(N, m.materials);
-        for (let W = 0, z = w.length; W < z; W++)
-          e.push(w[W]);
+        for (let K = 0, z = w.length; K < z; K++)
+          e.push(w[K]);
       }
       for (let a = 0, g = l.length; a < g; a++)
         e.push(xe(l[a]).clone());
@@ -1979,7 +1979,7 @@ class oi extends lt {
         let c;
         switch (n) {
           case "lines":
-            c = new Wn(s.data, u);
+            c = new Kn(s.data, u);
             break;
           case "linestrips":
             c = new Jn(s.data, u);
@@ -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], Pe = st.getElementsByTagName("parsererror")[0];
-    if (Pe !== void 0) {
-      const t = R(Pe, "div")[0];
+    const st = new DOMParser().parseFromString(O, "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 = ke(R(Z, "asset")[0]), rt = new Tt(this.manager);
     rt.setPath(this.resourcePath || Q).setCrossOrigin(this.crossOrigin);
-    let qe;
-    wt && (qe = new wt(this.manager), qe.setPath(this.resourcePath || Q));
+    let Pe;
+    wt && (Pe = new wt(this.manager), Pe.setPath(this.resourcePath || Q));
     const Re = new ut(), Ie = [];
     let at = {}, _n = 0;
     const E = {
@@ -2089,7 +2089,7 @@ class oi extends lt {
       physicsModels: {},
       kinematicsScenes: {}
     };
-    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", f), $(Z, "library_controllers", "controller", H), $(Z, "library_images", "image", h), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Ot), $(Z, "library_cameras", "camera", Pt), $(Z, "library_lights", "light", Ht), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", Fe), $(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(E.animations, P), ie(E.clips, K), ie(E.controllers, v), ie(E.images, T), ie(E.effects, De), ie(E.materials, Ve), ie(E.cameras, Je), ie(E.lights, We), ie(E.geometries, Ke), ie(E.visualScenes, nt), Tn(), hn();
+    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", f), $(Z, "library_controllers", "controller", H), $(Z, "library_images", "image", h), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Ot), $(Z, "library_cameras", "camera", qt), $(Z, "library_lights", "light", Ht), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", Fe), $(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(E.animations, q), ie(E.clips, W), ie(E.controllers, v), ie(E.images, T), ie(E.effects, De), ie(E.materials, Ve), ie(E.cameras, Je), ie(E.lights, Ke), ie(E.geometries, We), ie(E.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() {
@@ -2138,30 +2138,30 @@ class ci {
     function Ne(M) {
       if (!/^package:\/\//.test(M))
         return Q ? Q + M : M;
-      const [P, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [q, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(P) ? R + "/" + U : R + "/" + P + "/" + U;
+        return R.endsWith(q) ? R + "/" + U : R + "/" + q + "/" + U;
       if (typeof R == "function")
-        return R(P) + "/" + U;
+        return R(q) + "/" + U;
       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] + "/" + U : (console.error(`URDFLoader : ${q} not found in provided package list.`), null);
     }
     function Ae(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((b) => b.nodeName === "robot").pop();
+      let q;
+      M instanceof Document ? q = [...M.children] : M instanceof Element ? q = [M] : q = [...new DOMParser().parseFromString(M, "text/xml").children];
+      const U = q.filter((b) => b.nodeName === "robot").pop();
       return $(U);
     }
     function $(M) {
-      const P = [...M.children], U = P.filter((x) => x.nodeName.toLowerCase() === "link"), b = P.filter((x) => x.nodeName.toLowerCase() === "joint"), D = P.filter((x) => x.nodeName.toLowerCase() === "material"), S = new Xn();
+      const q = [...M.children], U = q.filter((x) => x.nodeName.toLowerCase() === "link"), b = q.filter((x) => x.nodeName.toLowerCase() === "joint"), D = q.filter((x) => x.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, D.forEach((x) => {
         const k = x.getAttribute("name");
         ke[k] = be(x);
       });
       const p = {}, d = {};
       U.forEach((x) => {
-        const k = x.getAttribute("name"), q = M.querySelector(`child[link="${k}"]`) === null;
-        Y[k] = ee(x, p, d, q ? S : null);
+        const k = x.getAttribute("name"), P = M.querySelector(`child[link="${k}"]`) === null;
+        Y[k] = ee(x, p, d, P ? S : null);
       }), b.forEach((x) => {
         const k = x.getAttribute("name");
         ne[k] = ie(x);
@@ -2170,14 +2170,14 @@ class ci {
       return L.forEach((x) => {
         x instanceof yt && ne[x.mimicJoint].mimicJoints.push(x);
       }), L.forEach((x) => {
-        const k = /* @__PURE__ */ new Set(), q = (ae) => {
+        const k = /* @__PURE__ */ new Set(), P = (ae) => {
           if (k.has(ae))
             throw new Error("URDFLoader: Detected an infinite loop of mimic joints.");
           k.add(ae), ae.mimicJoints.forEach((te) => {
-            q(te);
+            P(te);
           });
         };
-        q(x);
+        P(x);
       }), S.frames = {
         ...d,
         ...p,
@@ -2186,23 +2186,23 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const P = [...M.children], U = M.getAttribute("type");
+      const q = [...M.children], U = M.getAttribute("type");
       let b;
-      const D = P.find((k) => k.nodeName.toLowerCase() === "mimic");
+      const D = q.find((k) => k.nodeName.toLowerCase() === "mimic");
       D ? (b = new yt(), b.mimicJoint = D.getAttribute("joint"), b.multiplier = parseFloat(D.getAttribute("multiplier") || 1), b.offset = parseFloat(D.getAttribute("offset") || 0)) : b = new $n(), b.urdfNode = M, b.name = M.getAttribute("name"), b.urdfName = b.name, b.jointType = U;
       let S = null, p = null, d = [0, 0, 0], L = [0, 0, 0];
-      P.forEach((k) => {
-        const q = k.nodeName.toLowerCase();
-        q === "origin" ? (d = ge(k.getAttribute("xyz")), L = ge(k.getAttribute("rpy"))) : q === "child" ? p = Y[k.getAttribute("link")] : q === "parent" ? S = Y[k.getAttribute("link")] : q === "limit" && (b.limit.lower = parseFloat(k.getAttribute("lower") || b.limit.lower), b.limit.upper = parseFloat(k.getAttribute("upper") || b.limit.upper), b.limit.effort = parseFloat(k.getAttribute("effort") || b.limit.effort), b.limit.velocity = parseFloat(k.getAttribute("velocity") || b.limit.velocity));
+      q.forEach((k) => {
+        const P = k.nodeName.toLowerCase();
+        P === "origin" ? (d = ge(k.getAttribute("xyz")), L = ge(k.getAttribute("rpy"))) : P === "child" ? p = Y[k.getAttribute("link")] : P === "parent" ? S = Y[k.getAttribute("link")] : P === "limit" && (b.limit.lower = parseFloat(k.getAttribute("lower") || b.limit.lower), b.limit.upper = parseFloat(k.getAttribute("upper") || b.limit.upper), b.limit.effort = parseFloat(k.getAttribute("effort") || b.limit.effort), b.limit.velocity = parseFloat(k.getAttribute("velocity") || b.limit.velocity));
       }), S.add(b), b.add(p), Nt(b, L), b.position.set(d[0], d[1], d[2]);
-      const x = P.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
+      const x = q.filter((k) => k.nodeName.toLowerCase() === "axis")[0];
       if (x) {
-        const k = x.getAttribute("xyz").split(/\s+/g).map((q) => parseFloat(q));
+        const k = x.getAttribute("xyz").split(/\s+/g).map((P) => parseFloat(P));
         b.axis = new pe(k[0], k[1], k[2]), b.axis.normalize();
       }
       return b;
     }
-    function ee(M, P, U, b = null) {
+    function ee(M, q, U, b = null) {
       b === null && (b = new Zn());
       const D = [...M.children];
       b.name = M.getAttribute("name"), b.urdfName = b.name, b.urdfNode = M;
@@ -2214,7 +2214,7 @@ class ci {
         const L = ye(d, ke);
         if (b.add(L), d.hasAttribute("name")) {
           const x = d.getAttribute("name");
-          L.name = x, L.urdfName = x, P[x] = L;
+          L.name = x, L.urdfName = x, q[x] = L;
         }
       }), oe && D.filter((d) => d.nodeName.toLowerCase() === "collision").forEach((d) => {
         const L = ye(d);
@@ -2225,8 +2225,8 @@ class ci {
       }), b;
     }
     function be(M) {
-      const P = [...M.children], U = new ve();
-      return U.name = M.getAttribute("name") || "", P.forEach((b) => {
+      const q = [...M.children], U = new ve();
+      return U.name = M.getAttribute("name") || "", q.forEach((b) => {
         const D = b.nodeName.toLowerCase();
         if (D === "color") {
           const S = b.getAttribute("rgba").split(/\s/g).map((p) => parseFloat(p));
@@ -2240,13 +2240,13 @@ class ci {
         }
       }), U;
     }
-    function ye(M, P = {}) {
+    function ye(M, q = {}) {
       const U = M.nodeName.toLowerCase() === "collision", b = [...M.children];
       let D = null;
       const S = b.filter((d) => d.nodeName.toLowerCase() === "material")[0];
       if (S) {
         const d = S.getAttribute("name");
-        d && d in P ? D = P[d] : D = be(S);
+        d && d in q ? D = q[d] : D = be(S);
       } else
         D = new ve();
       const p = U ? new Qn() : new ei();
@@ -2255,32 +2255,32 @@ class ci {
         if (L === "geometry") {
           const x = d.children[0].nodeName.toLowerCase();
           if (x === "mesh") {
-            const k = d.children[0].getAttribute("filename"), q = Ne(k);
-            if (q !== null) {
+            const k = d.children[0].getAttribute("filename"), P = Ne(k);
+            if (P !== null) {
               const ae = d.children[0].getAttribute("scale");
               if (ae) {
                 const te = ge(ae);
                 p.scale.set(te[0], te[1], te[2]);
               }
-              se(q, I, (te, f) => {
+              se(P, I, (te, f) => {
                 f ? console.error("URDFLoader: Error loading mesh.", f) : te && (te instanceof Ce && (te.material = D), te.position.set(0, 0, 0), te.quaternion.identity(), p.add(te));
               });
             }
           } else if (x === "box") {
             const k = new Ce();
             k.geometry = new ti(1, 1, 1), k.material = D;
-            const q = ge(d.children[0].getAttribute("size"));
-            k.scale.set(q[0], q[1], q[2]), p.add(k);
+            const P = ge(d.children[0].getAttribute("size"));
+            k.scale.set(P[0], P[1], P[2]), p.add(k);
           } else if (x === "sphere") {
             const k = new Ce();
             k.geometry = new ni(1, 30, 30), k.material = D;
-            const q = parseFloat(d.children[0].getAttribute("radius")) || 0;
-            k.scale.set(q, q, q), p.add(k);
+            const P = parseFloat(d.children[0].getAttribute("radius")) || 0;
+            k.scale.set(P, P, P), p.add(k);
           } else if (x === "cylinder") {
             const k = new Ce();
             k.geometry = new ii(1, 1, 1, 30), k.material = D;
-            const q = parseFloat(d.children[0].getAttribute("radius")) || 0, ae = parseFloat(d.children[0].getAttribute("length")) || 0;
-            k.scale.set(q, ae, q), k.rotation.set(Math.PI / 2, 0, 0), p.add(k);
+            const P = parseFloat(d.children[0].getAttribute("radius")) || 0, ae = parseFloat(d.children[0].getAttribute("length")) || 0;
+            k.scale.set(P, ae, P), k.rotation.set(Math.PI / 2, 0, 0), p.add(k);
           }
         } else if (L === "origin") {
           const x = ge(d.getAttribute("xyz")), k = ge(d.getAttribute("rpy"));