I am trying to load a URDF file in aframe scene to visualize it on VR. The code for aframe component is:

<script type="importmap">
                { "imports": {
                    "urdf-loader":  "https://cdn.jsdelivr.net/npm/[email protected]/umd/URDFLoader.js",
                    "three": "https://unpkg.com/[email protected]/build/three.module.js",
                    "three/addons/": "https://unpkg.com/[email protected]/examples/jsm/"
                } }
    </script>

<script type="module">

        import 'urdf-loader';
        import { STLLoader } from 'three/addons/loaders/STLLoader';
        import { WebGLRenderer, Mesh, MathUtils, Bone, Vector3 } from 'three';

        AFRAME.registerComponent('load-panda-urdf', {
            init: function () {
                //const manager = new THREE.LoadingManager();
                const apiBaseUrl = window.location.origin;
                const URDF_PATH = apiBaseUrl + '/api/URDF';
                const loader = new URDFLoader(); // Error in this line
                loader.load(URDF_PATH, (result) => {
                    robot = result;
                    new STLLoader(manager).load(
                        path,
                        (result) => {
                            const material = new THREE.MeshPhongMaterial();
                            const mesh = new THREE.Mesh(result, material);
                            done(mesh);
                        },
                        null,
                        (err) => done(null, err)
                    );
                    // The robot is loaded!
                    this.el.sceneEl.object3D.add(robot);
                });
            },
        })

    </script>

I get this error related to STLLoader

URDFLoader.js:134 URDFLoader: Error loading file. TypeError: STLLoader_js.STLLoader is not a constructor
    at URDFLoader.defaultMeshLoader (URDFLoader.js:645:28)
    at URDFLoader.js:555:29
    at Array.forEach (<anonymous>)
    at processLinkElement (URDFLoader.js:533:22)
    at URDFLoader.js:418:31
    at Array.forEach (<anonymous>)
    at processLink (URDFLoader.js:416:29)
    at URDFLoader.js:257:33
    at Array.forEach (<anonymous>)
    at processRobot (URDFLoader.js:253:19)

The line responsible for error is this

const loader = new URDFLoader();

I went through the documentation of the urdf-loaders project on github but couldn’t find any fix for this. How do I fix this?