ss-component-new 1.3.813 → 1.3.815

package/dist/{URDFLoader-DUzCZjnV.js → URDFLoader-CiSgFgWK.js}

@@ -1,13 +1,13 @@
-import { S as Ln } from "./MTLLoader-Cw11TWAL.js";
-import { bg as vn, aw as Rn, R as lt, ak as At, U as In, V as pe, n as he, aG as dt, S as Mn, at as Tt, C as ut, o as Le, aN as ft, bh as Sn, k as ve, aW as Se, c as me, am as Gn, l as On, a4 as qn, P as ht, aL as Pn, i as jn, ao as Un, j as Fn, D as Hn, s as pt, aq as Et, aT as mt, aV as Bn, u as Dn, Y as ye, aO as zn, a2 as bt, aI as Vn, h as Ce, w as Jn, aJ as Wn, aM as Kn, aC as Ge, aE 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_05e3a1d8_lang-DFJL-r6K.js";
+import { S as Ln } from "./MTLLoader-DeqHL-AI.js";
+import { bi as vn, ax as Rn, U as lt, al as At, Y as In, V as pe, n as he, aH as dt, S as Mn, au as Tt, C as ut, o as Le, aO as ft, bj as Sn, k as ve, aX as Se, c as me, an as On, l as Gn, a5 as Pn, P as ht, aM as qn, i as jn, ap as Un, j as Fn, D as Hn, s as pt, ar as Et, aU as mt, aW as Bn, u as Dn, Z as ye, aP as zn, a3 as bt, aJ as Vn, h as Ce, w as Jn, aK as Kn, aN as Wn, aD as Oe, aF as gt, bk as Yn, bl as Xn, bm as yt, bn as $n, bo as Zn, bp as Qn, bq as ei, a1 as ti, br as ni, a_ as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_05e3a1d8_lang-CZUHaA2-.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
    *
    * @param {LoadingManager} [manager] - The loading manager.
    */
-  constructor(G) {
-    super(G);
+  constructor(O) {
+    super(O);
   }
   /**
    * 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(G) {
+  parse(O) {
     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, K, z, B, X) {
+    function R(u, W, 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) {
+      if (W && (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(_);
@@ -66,77 +66,77 @@ class wt extends vn {
       } else
         U = X.subarray(
           B,
-          B += K ? z.width * z.height : x
+          B += W ? z.width * z.height : x
         );
       return {
         pixel_data: U,
         palettes: D
       };
     }
-    function se(u, K, z, B, X, U, D, _, x) {
+    function se(u, W, z, B, X, U, D, _, x) {
       const N = x;
       let f, A = 0, V, le;
       const Ae = C.width;
-      for (le = K; le !== B; le += z)
+      for (le = W; 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, K, z, B, X, U, D, _) {
+    function v(u, W, z, B, X, U, D, _) {
       let x, N = 0, f, A;
       const V = C.width;
-      for (A = K; A !== B; A += z)
+      for (A = W; 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, K, z, B, X, U, D, _) {
+    function oe(u, W, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = K; f !== B; f += z)
+      for (f = W; 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, K, z, B, X, U, D, _) {
+    function I(u, W, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = K; f !== B; f += z)
+      for (f = W; 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, K, z, B, X, U, D, _) {
+    function Y(u, W, z, B, X, U, D, _) {
       let x, N = 0, f, A;
       const V = C.width;
-      for (A = K; A !== B; A += z)
+      for (A = W; 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, K, z, B, X, U, D, _) {
+    function ne(u, W, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = K; f !== B; f += z)
+      for (f = W; 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, K, z, B, X) {
+    function we(u, W, z, B, X) {
       let U, D, _, x, N, f;
-      switch ((C.flags & M) >> P) {
+      switch ((C.flags & M) >> q) {
         default:
         case J:
-          U = 0, _ = 1, N = K, D = 0, x = 1, f = z;
+          U = 0, _ = 1, N = W, D = 0, x = 1, f = z;
           break;
         case F:
-          U = 0, _ = 1, N = K, D = z - 1, x = -1, f = -1;
+          U = 0, _ = 1, N = W, D = z - 1, x = -1, f = -1;
           break;
         case S:
-          U = K - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
+          U = W - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
           break;
         case E:
-          U = K - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
+          U = W - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
           break;
       }
       if (j)
@@ -169,10 +169,10 @@ class wt extends vn {
         }
       return u;
     }
-    const ke = 0, Ne = 1, $ = 2, ie = 3, ee = 9, be = 10, ge = 11, M = 48, P = 4, F = 0, E = 1, J = 2, S = 3;
-    if (G.length < 19) throw new Error("THREE.TGALoader: Not enough data to contain header.");
+    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.");
     let m = 0;
-    const h = new Uint8Array(G), C = {
+    const h = new Uint8Array(O), C = {
       id_length: h[m++],
       colormap_type: h[m++],
       image_type: h[m++],
@@ -188,7 +188,7 @@ class wt extends vn {
       pixel_size: h[m++],
       flags: h[m++]
     };
-    if (Q(C), C.id_length + m > G.length)
+    if (Q(C), C.id_length + m > O.length)
       throw new Error("THREE.TGALoader: No data.");
     m += C.id_length;
     let L = !1, k = !1, j = !1;
@@ -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(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) {
+  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) {
       try {
         Q(v.parse(Y, oe));
       } catch (ne) {
-        se ? se(ne) : console.error(ne), v.manager.itemError(G);
+        se ? se(ne) : console.error(ne), v.manager.itemError(O);
       }
     }, 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(G, Q) {
+  parse(O, 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] = Oe(o);
+            r = o.getAttribute("id"), e.sources[r] = Ge(o);
             break;
           case "sampler":
             r = o.getAttribute("id"), e.samplers[r] = ge(o);
@@ -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)) {
@@ -391,7 +391,7 @@ class oi extends lt {
       return e;
     }
     function F(t) {
-      return ee(T.animations[t], P);
+      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();
@@ -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 W = i.array[c], H = t.indices[0] + 4 * t.indices[1];
-              p[d][H] = W;
+              const K = i.array[c], H = t.indices[0] + 4 * t.indices[1];
+              p[d][H] = K;
             } else
               for (a = 0, b = i.stride; a < b; a++)
                 p[d][a] = i.array[c + a];
@@ -512,7 +512,7 @@ class oi extends lt {
       }
       T.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 d = F(s[o]);
@@ -522,7 +522,7 @@ class oi extends lt {
       return new ft(i, n, e);
     }
     function z(t) {
-      return ee(T.clips[t], K);
+      return ee(T.clips[t], W);
     }
     function B(t) {
       const e = {};
@@ -553,7 +553,7 @@ class oi extends lt {
               break;
             case "source":
               const o = s.getAttribute("id");
-              e.sources[o] = Oe(s);
+              e.sources[o] = Ge(s);
               break;
             case "joints":
               e.joints = U(s);
@@ -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], O = [];
+        const H = o[p], G = [];
         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];
+          G.push({ index: P, weight: re }), b += 2;
         }
-        for (O.sort(W), w = 0; w < 4; w++) {
-          const q = O[w];
-          q !== void 0 ? (i.indices.array.push(q.index), i.weights.array.push(q.weight)) : (i.indices.array.push(0), i.weights.array.push(0));
+        for (G.sort(K), w = 0; w < 4; w++) {
+          const P = G[w];
+          P !== void 0 ? (i.indices.array.push(P.index), i.weights.array.push(P.weight)) : (i.indices.array.push(0), i.weights.array.push(0));
         }
       }
       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], O = new he().fromArray(g.array, p * g.stride).transpose();
-        i.joints.push({ name: H, boneInverse: O });
+        const H = l.array[p], G = new he().fromArray(g.array, p * g.stride).transpose();
+        i.joints.push({ name: H, boneInverse: G });
       }
       return i;
-      function W(H, O) {
-        return O.weight - H.weight;
+      function K(H, G) {
+        return G.weight - H.weight;
       }
     }
     function N(t) {
@@ -893,7 +893,7 @@ class oi extends lt {
     function St(t) {
       return ee(T.effects[t], ze);
     }
-    function Gt(t) {
+    function Ot(t) {
       const e = {
         name: t.getAttribute("name")
       };
@@ -908,7 +908,7 @@ class oi extends lt {
       }
       T.materials[t.getAttribute("id")] = e;
     }
-    function Ot(t) {
+    function Gt(t) {
       let e, i = t.slice((t.lastIndexOf(".") - 1 >>> 0) + 2);
       switch (i = i.toLowerCase(), i) {
         case "tga":
@@ -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 = Ot(a);
+          const b = Gt(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 ? 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);
+              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);
             } else
-              p.wrapS = Ge, p.wrapT = Ge;
+              p.wrapS = Oe, p.wrapT = Oe;
             return l !== null && (p.colorSpace = l), p;
           } else
             return console.warn("THREE.ColladaLoader: Loader for texture %s not found.", a), null;
@@ -1020,20 +1020,20 @@ class oi extends lt {
           const g = c[l];
           switch (l) {
             case "double_sided":
-              n.side = g === 1 ? On : qn;
+              n.side = g === 1 ? Gn : Pn;
               break;
             case "bump":
-              n.normalMap = s(g.texture), n.normalScale = new Gn(1, 1);
+              n.normalMap = s(g.texture), n.normalScale = new On(1, 1);
               break;
           }
         }
       }
       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")
       };
@@ -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":
@@ -1192,7 +1192,7 @@ class oi extends lt {
     }
     function Vt(t) {
       const e = T.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 = {
@@ -1208,10 +1208,10 @@ class oi extends lt {
           const o = s.getAttribute("id");
           switch (s.nodeName) {
             case "source":
-              e.sources[o] = Oe(s);
+              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);
@@ -1229,7 +1229,7 @@ class oi extends lt {
         T.geometries[t.getAttribute("id")] = e;
       }
     }
-    function Oe(t) {
+    function Ge(t) {
       const e = {
         array: [],
         stride: 3
@@ -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 }, 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], W = y.inputs;
+        const y = t[w], K = y.inputs;
         let H = 0;
         switch (y.type) {
           case "lines":
@@ -1326,9 +1326,9 @@ class oi extends lt {
             H = y.count * 3;
             break;
           case "polylist":
-            for (let O = 0; O < y.count; O++) {
-              const q = y.vcount[O];
-              switch (q) {
+            for (let G = 0; G < y.count; G++) {
+              const P = y.vcount[G];
+              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;
               }
             }
@@ -1345,32 +1345,32 @@ class oi extends lt {
             console.warn("THREE.ColladaLoader: Unknown primitive type:", y.type);
         }
         a.addGroup(p, H, w), p += H, y.material && b.push(y.material);
-        for (const O in W) {
-          const q = W[O];
-          switch (O) {
+        for (const G in K) {
+          const P = K[G];
+          switch (G) {
             case "VERTEX":
               for (const fe in i) {
                 const re = i[fe];
                 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;
           }
         }
@@ -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, W = a + r * 1, H = a + r * 2, O = a + r * 3;
-            c(y), c(W), c(O), c(W), c(H), c(O);
+            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);
           } else if (w === 3) {
-            const y = a + r * 0, W = a + r * 1, H = a + r * 2;
-            c(y), c(W), c(H);
+            const y = a + r * 0, K = a + r * 1, H = a + r * 2;
+            c(y), c(K), c(H);
           } else if (w > 4)
-            for (let y = 1, W = w - 2; y <= W; y++) {
-              const H = a + r * 0, O = a + r * y, q = a + r * (y + 1);
-              c(H), c(O), c(q);
+            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);
             }
           a += r * w;
         }
@@ -1434,7 +1434,7 @@ class oi extends lt {
           c(a);
     }
     function Ye(t) {
-      return ee(T.geometries[t], Ke);
+      return ee(T.geometries[t], We);
     }
     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, W = b.transforms;
+              const w = b.object, y = p.axis, K = b.transforms;
               ce.identity();
-              for (let H = 0; H < W.length; H++) {
-                const O = W[H];
-                if (O.sid && O.sid.indexOf(g) !== -1)
+              for (let H = 0; H < K.length; H++) {
+                const G = K[H];
+                if (G.sid && G.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 (O.type) {
+                  switch (G.type) {
                     case "matrix":
-                      ce.multiply(O.obj);
+                      ce.multiply(G.obj);
                       break;
                     case "translate":
-                      ce.multiply(l.makeTranslation(O.obj.x, O.obj.y, O.obj.z));
+                      ce.multiply(l.makeTranslation(G.obj.x, G.obj.y, G.obj.z));
                       break;
                     case "scale":
-                      ce.scale(O.obj);
+                      ce.scale(G.obj);
                       break;
                     case "rotate":
-                      ce.multiply(l.makeRotationAxis(O.obj, O.angle));
+                      ce.multiply(l.makeRotationAxis(G.obj, G.angle));
                       break;
                   }
               }
@@ -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")));
@@ -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 Kn(d, c);
+      return new Wn(d, c);
     }
     function Qe(t, e, i) {
       t.traverse(function(n) {
@@ -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), W = et(y, p.materials), H = p.skeletons, O = w.skin.joints, q = bn(H, O);
-        for (let fe = 0, re = W.length; fe < re; fe++) {
-          const xe = W[fe];
-          xe.isSkinnedMesh && (xe.bind(q, w.skin.bindMatrix), xe.normalizeSkinWeights()), e.push(xe);
+        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];
+          xe.isSkinnedMesh && (xe.bind(P, w.skin.bindMatrix), xe.normalizeSkinWeights()), e.push(xe);
         }
       }
       for (let a = 0, b = d.length; a < b; a++) {
@@ -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 W = 0, H = y.length; W < H; W++)
-          e.push(y[W]);
+        for (let K = 0, H = y.length; K < H; K++)
+          e.push(y[K]);
       }
       for (let a = 0, b = l.length; a < b; a++)
         e.push(Ee(l[a]).clone());
@@ -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;
     }
@@ -1979,7 +1979,7 @@ class oi extends lt {
         let c;
         switch (n) {
           case "lines":
-            c = new Wn(s.data, d);
+            c = new Kn(s.data, d);
             break;
           case "linestrips":
             c = new Jn(s.data, d);
@@ -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) {
@@ -2056,13 +2056,13 @@ class oi extends lt {
       }
       return e.trim();
     }
-    if (G.length === 0)
+    if (O.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(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");
@@ -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, 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();
+    $(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, 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() {
@@ -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((G) => parseFloat(G)) : [0, 0, 0];
+  return ue ? ue.trim().split(/\s+/g).map((O) => parseFloat(O)) : [0, 0, 0];
 }
-function Nt(ue, G, Q = !1) {
-  Q || ue.rotation.set(0, 0, 0), kt.set(G[0], G[1], G[2], "ZYX"), Ue.setFromEuler(kt), Ue.multiply(ue.quaternion), ue.quaternion.copy(Ue);
+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);
 }
 class ci {
-  constructor(G) {
-    this.manager = G || Yn, this.loadMeshCb = this.defaultMeshLoader.bind(this), this.parseVisual = !0, this.parseCollision = !1, this.packages = "", this.workingPath = "", this.fetchOptions = {};
+  constructor(O) {
+    this.manager = O || Yn, this.loadMeshCb = this.defaultMeshLoader.bind(this), this.parseVisual = !0, this.parseCollision = !1, this.packages = "", this.workingPath = "", this.fetchOptions = {};
   }
   /* Public API */
-  loadAsync(G) {
+  loadAsync(O) {
     return new Promise((Q, R) => {
-      this.load(G, Q, null, R);
+      this.load(O, Q, null, R);
     });
   }
   // urdf:    The path to the URDF within the package OR absolute
   // onComplete:      Callback that is passed the model once loaded
-  load(G, Q, R, se) {
-    const v = this.manager, oe = At.extractUrlBase(G), I = this.manager.resolveURL(G);
+  load(O, Q, R, se) {
+    const v = this.manager, oe = At.extractUrlBase(O), I = this.manager.resolveURL(O);
     v.itemStart(I), fetch(I, this.fetchOptions).then((Y) => {
       if (Y.ok)
         return R && R(null), Y.text();
@@ -2133,27 +2133,27 @@ class ci {
       se ? se(Y) : console.error("URDFLoader: Error loading file.", Y), v.itemError(I), v.itemEnd(I);
     });
   }
-  parse(G, Q = this.workingPath) {
+  parse(O, 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 [P, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [q, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(P) ? R + "/" + F : R + "/" + P + "/" + F;
+        return R.endsWith(q) ? R + "/" + F : R + "/" + q + "/" + F;
       if (R instanceof Function)
-        return R(P) + "/" + F;
+        return R(q) + "/" + F;
       if (typeof R == "object")
-        return P in R ? R[P] + "/" + F : (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 F = P.filter((E) => E.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 F = q.filter((E) => E.nodeName === "robot").pop();
       return $(F);
     }
     function $(M) {
-      const P = [...M.children], F = P.filter((L) => L.nodeName.toLowerCase() === "link"), E = P.filter((L) => L.nodeName.toLowerCase() === "joint"), J = P.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      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);
@@ -2186,30 +2186,30 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const P = [...M.children], F = M.getAttribute("type");
+      const q = [...M.children], F = M.getAttribute("type");
       let E;
-      const J = P.find((k) => k.nodeName.toLowerCase() === "mimic");
+      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) => {
+      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));
       }), 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));
         E.axis = new pe(k[0], k[1], k[2]), E.axis.normalize();
       }
       return E;
     }
-    function ee(M, P, F, 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);
@@ -2220,8 +2220,8 @@ class ci {
       }), E;
     }
     function be(M) {
-      const P = [...M.children], F = new ve();
-      return F.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));
@@ -2235,13 +2235,13 @@ class ci {
         }
       }), F;
     }
-    function ge(M, P = {}) {
+    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 = F ? new Qn() : new ei();
@@ -2283,14 +2283,14 @@ class ci {
         }
       }), m;
     }
-    return Ne(G);
+    return Ne(O);
   }
   // Default mesh loading function
-  defaultMeshLoader(G, Q, R) {
-    /\.stl$/i.test(G) ? new Ln(Q).load(G, (v) => {
+  defaultMeshLoader(O, Q, R) {
+    /\.stl$/i.test(O) ? new Ln(Q).load(O, (v) => {
       const oe = new Ce(v, new ve());
       R(oe);
-    }) : /\.dae$/i.test(G) ? new oi(Q).load(G, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${G}.
+    }) : /\.dae$/i.test(O) ? new oi(Q).load(O, (v) => R(v.scene)) : console.warn(`URDFLoader: Could not load model at ${O}.
 No loader available`);
   }
 }