ss-component-new 1.3.953 → 1.3.955

package/dist/{URDFLoader-CICacK2L.js → URDFLoader-CDgPvYJq.js}

@@ -1,5 +1,5 @@
-import { S as Ln } from "./MTLLoader-66_Xzmzm.js";
-import { bi as vn, ay as Rn, Y as lt, am as At, Z as In, V as pe, n as he, aI as dt, S as Mn, av as Tt, C as ut, o as Le, aP as ft, bj as Sn, k as ve, aY as Se, c as me, ao as Gn, l as On, a6 as qn, P as ht, aN as Pn, i as jn, aq as Fn, j as Un, D as Hn, s as pt, as as Et, aV as mt, aX as Bn, u as Dn, _ as ye, aQ as zn, a4 as bt, aK as Vn, h as Ce, w as Jn, aL as Kn, aO as Wn, aE as Ge, aG as gt, bk as Yn, bl as Xn, bm as yt, bn as $n, bo as Zn, bp as Qn, bq as ei, a2 as ti, br as ni, a$ as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_05e3a1d8_lang-D6QhBEr9.js";
+import { S as Ln } from "./MTLLoader-DzjKB9PB.js";
+import { bg as vn, aw as Rn, R as lt, ak as At, U as In, V as pe, m as he, aG as dt, S as Mn, at as Tt, C as ut, n as Le, aN as ft, bh as Sn, j as ve, aW as Se, c as me, am as Gn, k as On, a4 as qn, P as ht, aL as Pn, h as jn, ao as Un, i as Fn, D as Hn, r as pt, aq as Et, aT as mt, aV as Bn, t as Dn, Y as ye, aO as zn, a2 as bt, aI as Vn, f as Ce, v 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, aZ as ii, E as si } from "./index.vue_vue_type_style_index_0_scoped_05e3a1d8_lang-BdssV-gt.js";
 class wt extends vn {
   /**
    * Constructs a new TGA loader.
@@ -44,11 +44,11 @@ class wt extends vn {
       if (u.pixel_size !== 8 && u.pixel_size !== 16 && u.pixel_size !== 24 && u.pixel_size !== 32)
         throw new Error("THREE.TGALoader: Invalid pixel size " + u.pixel_size);
     }
-    function R(u, W, z, B, X) {
-      let F, D;
+    function R(u, K, z, B, X) {
+      let U, D;
       const _ = z.pixel_size >> 3, x = z.width * z.height * _;
-      if (W && (D = X.subarray(B, B += z.colormap_length * (z.colormap_size >> 3))), u) {
-        F = new Uint8Array(x);
+      if (K && (D = X.subarray(B, B += z.colormap_length * (z.colormap_size >> 3))), u) {
+        U = new Uint8Array(x);
         let N, f, A, V = 0;
         const le = new Uint8Array(_);
         for (; V < x; )
@@ -56,96 +56,96 @@ class wt extends vn {
             for (A = 0; A < _; ++A)
               le[A] = X[B++];
             for (A = 0; A < f; ++A)
-              F.set(le, V + A * _);
+              U.set(le, V + A * _);
             V += _ * f;
           } else {
             for (f *= _, A = 0; A < f; ++A)
-              F[V + A] = X[B++];
+              U[V + A] = X[B++];
             V += f;
           }
       } else
-        F = X.subarray(
+        U = X.subarray(
           B,
-          B += W ? z.width * z.height : x
+          B += K ? z.width * z.height : x
         );
       return {
-        pixel_data: F,
+        pixel_data: U,
         palettes: D
       };
     }
-    function se(u, W, z, B, X, F, D, _, 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 += z)
-        for (V = X; V !== D; V += F, 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, z, B, X, F, D, _) {
+    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 += z)
-        for (f = X; f !== D; f += F, 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, z, B, X, F, D, _) {
+    function oe(u, K, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += F, x += 3)
+      for (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, z, B, X, F, D, _) {
+    function I(u, K, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += F, x += 4)
+      for (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, z, B, X, F, D, _) {
+    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 += z)
-        for (f = X; f !== D; f += F, 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, z, B, X, F, D, _) {
+    function ne(u, K, z, B, X, U, D, _) {
       let x = 0, N, f;
       const A = C.width;
-      for (f = W; f !== B; f += z)
-        for (N = X; N !== D; N += F, x += 2)
+      for (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, z, B, X) {
-      let F, D, _, x, N, f;
+    function we(u, K, z, B, X) {
+      let U, D, _, x, N, f;
       switch ((C.flags & M) >> P) {
         default:
         case J:
-          F = 0, _ = 1, N = W, D = 0, x = 1, f = z;
+          U = 0, _ = 1, N = K, D = 0, x = 1, f = z;
           break;
-        case U:
-          F = 0, _ = 1, N = W, D = z - 1, x = -1, f = -1;
+        case F:
+          U = 0, _ = 1, N = K, D = z - 1, x = -1, f = -1;
           break;
         case S:
-          F = W - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
+          U = K - 1, _ = -1, N = -1, D = 0, x = 1, f = z;
           break;
         case E:
-          F = W - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
+          U = K - 1, _ = -1, N = -1, D = z - 1, x = -1, f = -1;
           break;
       }
       if (j)
         switch (C.pixel_size) {
           case 8:
-            Y(u, D, x, f, F, _, N, B);
+            Y(u, D, x, f, U, _, N, B);
             break;
           case 16:
-            ne(u, D, x, f, F, _, N, B);
+            ne(u, D, x, f, U, _, N, B);
             break;
           default:
             throw new Error("THREE.TGALoader: Format not supported.");
@@ -153,23 +153,23 @@ class wt extends vn {
       else
         switch (C.pixel_size) {
           case 8:
-            se(u, D, x, f, F, _, N, B, X);
+            se(u, D, x, f, U, _, N, B, X);
             break;
           case 16:
-            v(u, D, x, f, F, _, N, B);
+            v(u, D, x, f, U, _, N, B);
             break;
           case 24:
-            oe(u, D, x, f, F, _, N, B);
+            oe(u, D, x, f, U, _, N, B);
             break;
           case 32:
-            I(u, D, x, f, F, _, 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, P = 4, U = 0, E = 1, J = 2, S = 3;
+    const ke = 0, Ne = 1, $ = 2, ie = 3, ee = 9, be = 10, ge = 11, M = 48, 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.");
     let m = 0;
     const h = new Uint8Array(G), C = {
@@ -390,7 +390,7 @@ class oi extends lt {
         }
       return e;
     }
-    function U(t) {
+    function F(t) {
       return ee(T.animations[t], P);
     }
     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];
@@ -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 = U(s[o]);
+        const d = F(s[o]);
         for (let c = 0, l = d.length; c < l; c++)
           e.push(d[c]);
       }
       return new ft(i, n, e);
     }
     function z(t) {
-      return ee(T.clips[t], W);
+      return ee(T.clips[t], K);
     }
     function B(t) {
       const e = {};
@@ -556,7 +556,7 @@ class oi extends lt {
               e.sources[o] = Oe(s);
               break;
             case "joints":
-              e.joints = F(s);
+              e.joints = U(s);
               break;
             case "vertex_weights":
               e.vertexWeights = D(s);
@@ -565,7 +565,7 @@ class oi extends lt {
       }
       return e;
     }
-    function F(t) {
+    function U(t) {
       const e = {
         inputs: {}
       };
@@ -629,7 +629,7 @@ class oi extends lt {
           const q = r[b + d], fe = r[b + c], re = a[fe];
           O.push({ index: q, weight: re }), b += 2;
         }
-        for (O.sort(K), w = 0; w < 4; w++) {
+        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));
         }
@@ -639,7 +639,7 @@ class oi extends lt {
         i.joints.push({ name: H, boneInverse: O });
       }
       return i;
-      function K(H, O) {
+      function W(H, O) {
         return O.weight - H.weight;
       }
     }
@@ -767,19 +767,19 @@ class oi extends lt {
             case "ambient":
             case "shininess":
             case "transparency":
-              e[s.nodeName] = Ue(s);
+              e[s.nodeName] = Fe(s);
               break;
             case "transparent":
               e[s.nodeName] = {
                 opaque: s.hasAttribute("opaque") ? s.getAttribute("opaque") : "A_ONE",
-                data: Ue(s)
+                data: Fe(s)
               };
               break;
           }
       }
       return e;
     }
-    function Ue(t) {
+    function Fe(t) {
       const e = {};
       for (let i = 0, n = t.childNodes.length; i < n; i++) {
         const s = t.childNodes[i];
@@ -1053,25 +1053,25 @@ class oi extends lt {
         const i = t.childNodes[e];
         switch (i.nodeName) {
           case "technique_common":
-            return Ft(i);
+            return Ut(i);
         }
       }
       return {};
     }
-    function Ft(t) {
+    function Ut(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
         switch (n.nodeName) {
           case "perspective":
           case "orthographic":
-            e.technique = n.nodeName, e.parameters = Ut(n);
+            e.technique = n.nodeName, e.parameters = Ft(n);
             break;
         }
       }
       return e;
     }
-    function Ut(t) {
+    function Ft(t) {
       const e = {};
       for (let i = 0; i < t.childNodes.length; i++) {
         const n = t.childNodes[i];
@@ -1172,17 +1172,17 @@ 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 Un();
+          e = new Fn();
           break;
         case "spot":
-          e = new Fn();
+          e = new Un();
           break;
         case "ambient":
           e = new jn();
@@ -1192,7 +1192,7 @@ class oi extends lt {
     }
     function Vt(t) {
       const e = T.lights[t];
-      return e !== void 0 ? ee(e, Ke) : (console.warn("THREE.ColladaLoader: Couldn't find light with ID:", t), null);
+      return e !== void 0 ? ee(e, We) : (console.warn("THREE.ColladaLoader: Couldn't find light with ID:", t), null);
     }
     function Jt(t) {
       const e = {
@@ -1211,7 +1211,7 @@ class oi extends lt {
               e.sources[o] = 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);
@@ -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);
@@ -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], K = y.inputs;
+        const y = t[w], W = y.inputs;
         let H = 0;
         switch (y.type) {
           case "lines":
@@ -1345,8 +1345,8 @@ class oi extends lt {
             console.warn("THREE.ColladaLoader: Unknown primitive type:", y.type);
         }
         a.addGroup(p, H, w), p += H, y.material && b.push(y.material);
-        for (const O in K) {
-          const q = K[O];
+        for (const O in W) {
+          const q = W[O];
           switch (O) {
             case "VERTEX":
               for (const fe in i) {
@@ -1417,13 +1417,13 @@ class oi extends lt {
         for (let b = 0, p = d.length; b < p; b++) {
           const w = d[b];
           if (w === 4) {
-            const y = a + r * 0, K = a + r * 1, H = a + r * 2, O = a + r * 3;
-            c(y), c(K), c(O), c(K), c(H), c(O);
+            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++) {
+            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);
             }
@@ -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 = {
@@ -1699,10 +1699,10 @@ class oi extends lt {
             else if (p.static)
               console.warn("THREE.ColladaLoader: Joint " + g + " is static.");
             else {
-              const w = b.object, y = p.axis, K = b.transforms;
+              const w = b.object, y = p.axis, W = b.transforms;
               ce.identity();
-              for (let H = 0; H < K.length; H++) {
-                const O = K[H];
+              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":
@@ -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, O = w.skin.joints, q = bn(H, O);
-        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, 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);
         }
       }
@@ -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());
@@ -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 = U(i);
+            const n = F(i);
             for (let s = 0, o = n.length; s < o; s++)
               e.push(n[s]);
           }
@@ -2089,7 +2089,7 @@ class oi extends lt {
       physicsModels: {},
       kinematicsScenes: {}
     };
-    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", u), $(Z, "library_controllers", "controller", B), $(Z, "library_images", "image", f), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Gt), $(Z, "library_cameras", "camera", Pt), $(Z, "library_lights", "light", Bt), $(Z, "library_geometries", "geometry", Jt), $(Z, "library_nodes", "node", qe), $(Z, "library_visual_scenes", "visual_scene", kn), $(Z, "library_kinematics_models", "kinematics_model", Zt), $(Z, "library_physics_models", "physics_model", rn), $(Z, "scene", "instance_kinematics_scene", ln), ie(T.animations, P), ie(T.clips, W), ie(T.controllers, _), ie(T.images, A), ie(T.effects, ze), ie(T.materials, Ve), ie(T.cameras, Je), ie(T.lights, Ke), ie(T.geometries, We), ie(T.visualScenes, nt), Tn(), hn();
+    $(Z, "library_animations", "animation", be), $(Z, "library_animation_clips", "animation_clip", u), $(Z, "library_controllers", "controller", B), $(Z, "library_images", "image", f), $(Z, "library_effects", "effect", le), $(Z, "library_materials", "material", Gt), $(Z, "library_cameras", "camera", 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();
     const Me = An(R(Z, "scene")[0]);
     return Me.animations = Ie, ot.upAxis === "Z_UP" && (console.warn("THREE.ColladaLoader: You are loading an asset with a Z-UP coordinate system. The loader just rotates the asset to transform it into Y-UP. The vertex data are not converted, see #24289."), Me.rotation.set(-Math.PI / 2, 0, 0)), Me.scale.multiplyScalar(ot.unit), {
       get animations() {
@@ -2101,12 +2101,12 @@ class oi extends lt {
     };
   }
 }
-const Fe = new Et(), kt = new si();
+const Ue = new Et(), kt = new si();
 function _e(ue) {
   return ue ? ue.trim().split(/\s+/g).map((G) => parseFloat(G)) : [0, 0, 0];
 }
 function Nt(ue, G, Q = !1) {
-  Q || ue.rotation.set(0, 0, 0), kt.set(G[0], G[1], G[2], "ZYX"), Fe.setFromEuler(kt), Fe.multiply(ue.quaternion), ue.quaternion.copy(Fe);
+  Q || ue.rotation.set(0, 0, 0), kt.set(G[0], G[1], G[2], "ZYX"), Ue.setFromEuler(kt), Ue.multiply(ue.quaternion), ue.quaternion.copy(Ue);
 }
 class ci {
   constructor(G) {
@@ -2138,28 +2138,28 @@ class ci {
     function ke(M) {
       if (!/^package:\/\//.test(M))
         return Q ? Q + M : M;
-      const [P, U] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
+      const [P, F] = M.replace(/^package:\/\//, "").split(/\/(.+)/);
       if (typeof R == "string")
-        return R.endsWith(P) ? R + "/" + U : R + "/" + P + "/" + U;
+        return R.endsWith(P) ? R + "/" + F : R + "/" + P + "/" + F;
       if (R instanceof Function)
-        return R(P) + "/" + U;
+        return R(P) + "/" + F;
       if (typeof R == "object")
-        return P in R ? R[P] + "/" + U : (console.error(`URDFLoader : ${P} not found in provided package list.`), null);
+        return P in R ? R[P] + "/" + F : (console.error(`URDFLoader : ${P} not found in provided package list.`), null);
     }
     function Ne(M) {
       let P;
       M instanceof Document ? P = [...M.children] : M instanceof Element ? P = [M] : P = [...new DOMParser().parseFromString(M, "text/xml").children];
-      const U = P.filter((E) => E.nodeName === "robot").pop();
-      return $(U);
+      const F = P.filter((E) => E.nodeName === "robot").pop();
+      return $(F);
     }
     function $(M) {
-      const P = [...M.children], U = P.filter((L) => L.nodeName.toLowerCase() === "link"), E = P.filter((L) => L.nodeName.toLowerCase() === "joint"), J = P.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
+      const P = [...M.children], F = P.filter((L) => L.nodeName.toLowerCase() === "link"), E = P.filter((L) => L.nodeName.toLowerCase() === "joint"), J = P.filter((L) => L.nodeName.toLowerCase() === "material"), S = new Xn();
       S.robotName = M.getAttribute("name"), S.urdfRobotNode = M, J.forEach((L) => {
         const k = L.getAttribute("name");
         we[k] = be(L);
       });
       const m = {}, h = {};
-      U.forEach((L) => {
+      F.forEach((L) => {
         const k = L.getAttribute("name"), j = M.querySelector(`child[link="${k}"]`) === null;
         Y[k] = ee(L, m, h, j ? S : null);
       }), E.forEach((L) => {
@@ -2186,10 +2186,10 @@ class ci {
       }, S;
     }
     function ie(M) {
-      const P = [...M.children], U = M.getAttribute("type");
+      const P = [...M.children], F = M.getAttribute("type");
       let E;
       const J = P.find((k) => k.nodeName.toLowerCase() === "mimic");
-      J ? (E = new yt(), E.mimicJoint = J.getAttribute("joint"), E.multiplier = parseFloat(J.getAttribute("multiplier") || 1), E.offset = parseFloat(J.getAttribute("offset") || 0)) : E = new $n(), E.urdfNode = M, E.name = M.getAttribute("name"), E.urdfName = E.name, E.jointType = U;
+      J ? (E = new yt(), E.mimicJoint = J.getAttribute("joint"), E.multiplier = parseFloat(J.getAttribute("multiplier") || 1), E.offset = parseFloat(J.getAttribute("offset") || 0)) : E = new $n(), E.urdfNode = M, E.name = M.getAttribute("name"), E.urdfName = E.name, E.jointType = F;
       let S = null, m = null, h = [0, 0, 0], C = [0, 0, 0];
       P.forEach((k) => {
         const j = k.nodeName.toLowerCase();
@@ -2202,7 +2202,7 @@ class ci {
       }
       return E;
     }
-    function ee(M, P, U, E = null) {
+    function ee(M, P, 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) => {
@@ -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, U[C] = h;
+          h.name = C, h.urdfName = C, F[C] = h;
         }
       }), E;
     }
     function be(M) {
-      const P = [...M.children], U = new ve();
-      return U.name = M.getAttribute("name") || "", P.forEach((E) => {
+      const P = [...M.children], F = new ve();
+      return F.name = M.getAttribute("name") || "", P.forEach((E) => {
         const J = E.nodeName.toLowerCase();
         if (J === "color") {
           const S = E.getAttribute("rgba").split(/\s/g).map((m) => parseFloat(m));
-          U.color.setRGB(S[0], S[1], S[2]), U.opacity = S[3], U.transparent = S[3] < 1, U.depthWrite = !U.transparent;
+          F.color.setRGB(S[0], S[1], S[2]), F.opacity = S[3], F.transparent = S[3] < 1, F.depthWrite = !F.transparent;
         } else if (J === "texture") {
           const S = E.getAttribute("filename");
           if (S) {
             const m = new Tt(I), h = ke(S);
-            U.map = m.load(h), U.map.colorSpace = me;
+            F.map = m.load(h), F.map.colorSpace = me;
           }
         }
-      }), U;
+      }), F;
     }
     function ge(M, P = {}) {
-      const U = M.nodeName.toLowerCase() === "collision", E = [...M.children];
+      const F = M.nodeName.toLowerCase() === "collision", E = [...M.children];
       let J = null;
       const S = E.filter((h) => h.nodeName.toLowerCase() === "material")[0];
       if (S) {
@@ -2244,7 +2244,7 @@ class ci {
         h && h in P ? J = P[h] : J = be(S);
       } else
         J = new ve();
-      const m = U ? new Qn() : new ei();
+      const m = F ? new Qn() : new ei();
       return m.urdfNode = M, E.forEach((h) => {
         const C = h.nodeName.toLowerCase();
         if (C === "geometry") {