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InputSystem_Actions.inputactions.meta

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Readme.asset

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+%YAML 1.1
+%TAG !u! tag:unity3d.com,2011:
+--- !u!114 &11400000
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+  m_Name: Readme
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+  icon: {fileID: 2800000, guid: 727a75301c3d24613a3ebcec4a24c2c8, type: 3}
+  title: URP Empty Template
+  sections:
+  - heading: Welcome to the Universal Render Pipeline
+    text: This template includes the settings and assets you need to start creating with the Universal Render Pipeline.
+    linkText: 
+    url:
+  - heading: URP Documentation
+    text:
+    linkText: Read more about URP
+    url: https://docs.unity3d.com/Packages/com.unity.render-pipelines.universal@latest
+  - heading: Forums
+    text:
+    linkText: Get answers and support
+    url: https://forum.unity.com/forums/universal-render-pipeline.383/
+  - heading: Report bugs
+    text:
+    linkText: Submit a report
+    url: https://unity3d.com/unity/qa/bug-reporting
+  loadedLayout: 1

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Scripts/Editor.meta

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Scripts/Editor/URDFImporterEditor.cs

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+using UnityEngine;
+using UnityEditor;
+using System.IO;
+using URDF;
+
+public class URDFImporterEditor : EditorWindow
+{
+    private string urdfFilePath = "";
+    private Object selectedURDF;
+    private bool ignoreURDFScale = true; // Default to true - assume models are already in meters
+    private float jointPositionScale = 1.0f; // Scale joint positions - default 1.0 (no scaling)
+
+    [MenuItem("Assets/Import URDF")]
+    public static void ShowWindow()
+    {
+        URDFImporterEditor window = GetWindow<URDFImporterEditor>("URDF Importer");
+        window.Show();
+    }
+
+    [MenuItem("Assets/Import URDF", true)]
+    public static bool ValidateImportURDF()
+    {
+        // Only enable if we're in the editor
+        return true;
+    }
+
+    void OnGUI()
+    {
+        GUILayout.Label("URDF Robot Importer", EditorStyles.boldLabel);
+        EditorGUILayout.Space();
+
+        EditorGUILayout.HelpBox(
+            "Select a URDF file to import. The importer will create a GameObject hierarchy " +
+            "with correct parent-child relationships and pivot points.",
+            MessageType.Info);
+
+        EditorGUILayout.Space();
+
+        // File selection
+        EditorGUILayout.BeginHorizontal();
+        EditorGUILayout.LabelField("URDF File:", GUILayout.Width(100));
+        
+        selectedURDF = EditorGUILayout.ObjectField(
+            selectedURDF,
+            typeof(Object),
+            false,
+            GUILayout.ExpandWidth(true));
+
+        if (selectedURDF != null)
+        {
+            string assetPath = AssetDatabase.GetAssetPath(selectedURDF);
+            if (assetPath.EndsWith(".urdf"))
+            {
+                urdfFilePath = Path.Combine(Application.dataPath, assetPath.Substring("Assets/".Length));
+            }
+            else
+            {
+                EditorGUILayout.HelpBox("Please select a .urdf file", MessageType.Warning);
+                selectedURDF = null;
+            }
+        }
+
+        EditorGUILayout.EndHorizontal();
+
+        EditorGUILayout.Space();
+
+        // Scale options
+        ignoreURDFScale = EditorGUILayout.Toggle(
+            new GUIContent("Ignore URDF Scale", 
+                "If checked, models are assumed to be already scaled to meters. " +
+                "If unchecked, URDF scale values (typically 0.001 for millimeter models) will be applied."),
+            ignoreURDFScale);
+
+        if (ignoreURDFScale)
+        {
+            jointPositionScale = EditorGUILayout.FloatField(
+                new GUIContent("Joint Position Scale",
+                    "Scale factor for joint positions. Use 1000 if models were scaled from millimeters to meters. " +
+                    "Use 1.0 if joint positions are already correct."),
+                jointPositionScale);
+        }
+
+        EditorGUILayout.Space();
+
+        // Import button
+        GUI.enabled = !string.IsNullOrEmpty(urdfFilePath) && File.Exists(urdfFilePath);
+        if (GUILayout.Button("Import URDF", GUILayout.Height(30)))
+        {
+            ImportURDF();
+        }
+        GUI.enabled = true;
+
+        EditorGUILayout.Space();
+
+        // Quick import from context menu
+        if (Event.current.type == EventType.ContextClick)
+        {
+            GenericMenu menu = new GenericMenu();
+            menu.AddItem(new GUIContent("Import Selected URDF"), false, () =>
+            {
+                if (Selection.activeObject != null)
+                {
+                    string path = AssetDatabase.GetAssetPath(Selection.activeObject);
+                    if (path.EndsWith(".urdf"))
+                    {
+                        selectedURDF = Selection.activeObject;
+                        urdfFilePath = Path.Combine(Application.dataPath, path.Substring("Assets/".Length));
+                        ImportURDF();
+                    }
+                }
+            });
+            menu.ShowAsContext();
+        }
+    }
+
+    [MenuItem("Assets/Import URDF (Selected)", true)]
+    public static bool ValidateImportSelectedURDF()
+    {
+        if (Selection.activeObject == null)
+            return false;
+
+        string path = AssetDatabase.GetAssetPath(Selection.activeObject);
+        return path.EndsWith(".urdf");
+    }
+
+    [MenuItem("Assets/Import URDF (Selected)")]
+    public static void ImportSelectedURDF()
+    {
+        if (Selection.activeObject == null)
+        {
+            Debug.LogError("No URDF file selected");
+            return;
+        }
+
+        string assetPath = AssetDatabase.GetAssetPath(Selection.activeObject);
+        if (!assetPath.EndsWith(".urdf"))
+        {
+            Debug.LogError("Selected file is not a URDF file");
+            return;
+        }
+
+        string fullPath = Path.Combine(Application.dataPath, assetPath.Substring("Assets/".Length));
+        // Default to ignoring scale (assuming models are in meters) with no joint position scaling
+        ImportURDFFile(fullPath, ignoreScale: true, jointPositionScale: 1.0f);
+    }
+
+    private void ImportURDF()
+    {
+        if (string.IsNullOrEmpty(urdfFilePath) || !File.Exists(urdfFilePath))
+        {
+            EditorUtility.DisplayDialog("Error", "Please select a valid URDF file", "OK");
+            return;
+        }
+
+        ImportURDFFile(urdfFilePath, ignoreURDFScale, ignoreURDFScale ? jointPositionScale : 1.0f);
+    }
+
+    private static void ImportURDFFile(string urdfFilePath, bool ignoreScale = true, float jointPositionScale = 1.0f)
+    {
+        try
+        {
+            EditorUtility.DisplayProgressBar("Importing URDF", "Parsing URDF file...", 0f);
+
+            GameObject robotRoot = URDFImporter.ImportURDF(urdfFilePath, null, ignoreScale, jointPositionScale);
+
+            if (robotRoot != null)
+            {
+                // Select the imported robot in the hierarchy
+                Selection.activeGameObject = robotRoot;
+                EditorGUIUtility.PingObject(robotRoot);
+
+                Debug.Log($"Successfully imported URDF robot: {robotRoot.name}");
+            }
+            else
+            {
+                EditorUtility.DisplayDialog("Import Failed", "Failed to import URDF file. Check console for errors.", "OK");
+            }
+        }
+        catch (System.Exception e)
+        {
+            Debug.LogError($"Error importing URDF: {e.Message}\n{e.StackTrace}");
+            EditorUtility.DisplayDialog("Import Error", $"Error importing URDF: {e.Message}", "OK");
+        }
+        finally
+        {
+            EditorUtility.ClearProgressBar();
+        }
+    }
+}
+

Scripts/Editor/URDFImporterEditor.cs.meta

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Scripts/UI.meta

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Scripts/UI/UIInitializer.cs

@@ -0,0 +1,122 @@
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.EventSystems;
+
+namespace UI
+{
+    /// <summary>
+    /// Automatically sets up a full-screen Canvas and creates a Window on scene start.
+    /// Attach this component to any GameObject in the scene.
+    /// </summary>
+    public class UIInitializer : MonoBehaviour
+    {
+        [Header("Window Settings")]
+        [SerializeField] private string windowTitle = "Window";
+        [SerializeField] private Vector2 windowSize = new Vector2(600, 400);
+        [SerializeField] private Vector2 windowPosition = Vector2.zero;
+
+        private void Start()
+        {
+            SetupCanvas();
+            SetupEventSystem();
+            CreateWindow();
+        }
+
+        /// <summary>
+        /// Creates a full-screen Canvas if one doesn't exist
+        /// </summary>
+        private void SetupCanvas()
+        {
+            Canvas existingCanvas = FindObjectOfType<Canvas>();
+            if (existingCanvas != null)
+            {
+                Debug.Log("Canvas already exists, using existing canvas.");
+                return;
+            }
+
+            // Create Canvas GameObject
+            GameObject canvasObj = new GameObject("Canvas");
+            Canvas canvas = canvasObj.AddComponent<Canvas>();
+            canvas.renderMode = RenderMode.ScreenSpaceOverlay;
+            canvas.sortingOrder = 0;
+
+            // Add CanvasScaler
+            CanvasScaler scaler = canvasObj.AddComponent<CanvasScaler>();
+            scaler.uiScaleMode = CanvasScaler.ScaleMode.ScaleWithScreenSize;
+            scaler.referenceResolution = new Vector2(1920, 1080);
+            scaler.matchWidthOrHeight = 0.5f;
+
+            // Add GraphicRaycaster
+            canvasObj.AddComponent<GraphicRaycaster>();
+
+            Debug.Log("Canvas created successfully.");
+        }
+
+        /// <summary>
+        /// Sets up EventSystem with InputSystemUIInputModule for new Input System
+        /// </summary>
+        private void SetupEventSystem()
+        {
+            EventSystem existingEventSystem = FindObjectOfType<EventSystem>();
+            if (existingEventSystem != null)
+            {
+                Debug.Log("EventSystem already exists, checking InputSystemUIInputModule...");
+                
+                // Check if InputSystemUIInputModule exists
+                if (existingEventSystem.GetComponent<UnityEngine.InputSystem.UI.InputSystemUIInputModule>() == null)
+                {
+                    // Remove old StandaloneInputModule if it exists
+                    var oldModule = existingEventSystem.GetComponent<StandaloneInputModule>();
+                    if (oldModule != null)
+                    {
+                        DestroyImmediate(oldModule);
+                    }
+
+                    // Add InputSystemUIInputModule
+                    existingEventSystem.gameObject.AddComponent<UnityEngine.InputSystem.UI.InputSystemUIInputModule>();
+                    Debug.Log("Added InputSystemUIInputModule to existing EventSystem.");
+                }
+                return;
+            }
+
+            // Create EventSystem GameObject
+            GameObject eventSystemObj = new GameObject("EventSystem");
+            EventSystem eventSystem = eventSystemObj.AddComponent<EventSystem>();
+
+            // Add InputSystemUIInputModule for new Input System
+            eventSystemObj.AddComponent<UnityEngine.InputSystem.UI.InputSystemUIInputModule>();
+
+            Debug.Log("EventSystem with InputSystemUIInputModule created successfully.");
+        }
+
+        /// <summary>
+        /// Creates and positions a Window
+        /// </summary>
+        private void CreateWindow()
+        {
+            Canvas canvas = FindObjectOfType<Canvas>();
+            if (canvas == null)
+            {
+                Debug.LogError("Cannot create window: Canvas not found!");
+                return;
+            }
+
+            // Create Window GameObject
+            GameObject windowObj = new GameObject("Window");
+            windowObj.transform.SetParent(canvas.transform, false);
+
+            // Add Window component
+            Window window = windowObj.AddComponent<Window>();
+            window.SetTitle(windowTitle);
+
+            // Set window position
+            RectTransform windowRect = windowObj.GetComponent<RectTransform>();
+            if (windowRect != null)
+            {
+                windowRect.anchoredPosition = windowPosition;
+            }
+
+            Debug.Log($"Window '{windowTitle}' created successfully.");
+        }
+    }
+}

Scripts/UI/UIInitializer.cs.meta

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Scripts/UI/Window.cs

@@ -0,0 +1,308 @@
+using UnityEngine;
+using UnityEngine.UI;
+using UnityEngine.EventSystems;
+using UnityEngine.InputSystem;
+
+namespace UI
+{
+    /// <summary>
+    /// A draggable window component with title bar dragging and close button functionality.
+    /// Automatically creates UI structure on Awake.
+    /// </summary>
+    public class Window : MonoBehaviour
+    {
+        [Header("Window Settings")]
+        [SerializeField] private Vector2 windowSize = new Vector2(600, 400);
+        [SerializeField] private string windowTitle = "Window";
+        [SerializeField] private Color backgroundColor = new Color(0.2f, 0.2f, 0.2f, 1f);
+        [SerializeField] private Color titleBarColor = new Color(0.3f, 0.3f, 0.3f, 1f);
+        [SerializeField] private float titleBarHeight = 30f;
+
+        private RectTransform rectTransform;
+        private RectTransform titleBarRect;
+        private Image titleBarImage;
+        private bool isDragging = false;
+        private Vector2 dragOffset;
+        private bool wasMouseDownLastFrame = false;
+
+        private void Awake()
+        {
+            rectTransform = GetComponent<RectTransform>();
+            if (rectTransform == null)
+            {
+                rectTransform = gameObject.AddComponent<RectTransform>();
+            }
+
+            CreateUIStructure();
+        }
+
+        private void Update()
+        {
+            // Fallback: Check for mouse down on title bar if interface didn't fire
+            bool isMouseDown = Mouse.current.leftButton.isPressed;
+            if (isMouseDown && !wasMouseDownLastFrame && !isDragging)
+            {
+                CheckTitleBarClick();
+            }
+            wasMouseDownLastFrame = isMouseDown;
+
+            HandleDragging();
+        }
+
+        /// <summary>
+        /// Fallback method to check if mouse clicked on title bar using raycasting
+        /// </summary>
+        private void CheckTitleBarClick()
+        {
+            Debug.Log("CheckTitleBarClick");
+            if (EventSystem.current == null) return;
+
+            Vector2 mousePosition = Mouse.current.position.ReadValue();
+            
+            // Use EventSystem to raycast
+            PointerEventData pointerData = new PointerEventData(EventSystem.current);
+            pointerData.position = mousePosition;
+
+            var results = new System.Collections.Generic.List<RaycastResult>();
+            EventSystem.current.RaycastAll(pointerData, results);
+
+            foreach (var result in results)
+            {
+                // Check if we hit the title bar (but not the close button or its children)
+                Transform hitTransform = result.gameObject.transform;
+                if (hitTransform.name == "TitleBar" && hitTransform.IsChildOf(transform))
+                {
+                    OnTitleBarPointerDown(mousePosition);
+                    break;
+                }
+                // If we hit a child of TitleBar, check if it's not the close button
+                else if (hitTransform.IsChildOf(transform.Find("TitleBar")))
+                {
+                    // Skip if it's the close button or its children
+                    if (!hitTransform.name.Contains("CloseButton") && hitTransform.parent != null && hitTransform.parent.name != "CloseButton")
+                    {
+                        OnTitleBarPointerDown(mousePosition);
+                        break;
+                    }
+                }
+            }
+        }
+
+        /// <summary>
+        /// Creates the UI structure: background, title bar, close button, and content area
+        /// </summary>
+        private void CreateUIStructure()
+        {
+            // Set up root RectTransform
+            rectTransform.anchorMin = new Vector2(0.5f, 0.5f);
+            rectTransform.anchorMax = new Vector2(0.5f, 0.5f);
+            rectTransform.pivot = new Vector2(0.5f, 0.5f);
+            rectTransform.sizeDelta = windowSize;
+            rectTransform.anchoredPosition = Vector2.zero;
+
+            // Create Background
+            GameObject backgroundObj = new GameObject("Background");
+            backgroundObj.transform.SetParent(transform, false);
+            Image backgroundImage = backgroundObj.AddComponent<Image>();
+            backgroundImage.color = backgroundColor;
+
+            RectTransform backgroundRect = backgroundObj.GetComponent<RectTransform>();
+            backgroundRect.anchorMin = Vector2.zero;
+            backgroundRect.anchorMax = Vector2.one;
+            backgroundRect.sizeDelta = Vector2.zero;
+            backgroundRect.anchoredPosition = Vector2.zero;
+
+            // Create Title Bar
+            GameObject titleBarObj = new GameObject("TitleBar");
+            titleBarObj.transform.SetParent(transform, false);
+            Image titleBarImage = titleBarObj.AddComponent<Image>();
+            titleBarImage.color = titleBarColor;
+
+            titleBarRect = titleBarObj.GetComponent<RectTransform>();
+            titleBarRect.anchorMin = new Vector2(0, 1);
+            titleBarRect.anchorMax = new Vector2(1, 1);
+            titleBarRect.pivot = new Vector2(0.5f, 1);
+            titleBarRect.sizeDelta = new Vector2(0, titleBarHeight);
+            titleBarRect.anchoredPosition = new Vector2(0, 0);
+            this.titleBarImage = titleBarImage;
+
+            // Add TitleBarDragHandler component for dragging
+            TitleBarDragHandler dragHandler = titleBarObj.AddComponent<TitleBarDragHandler>();
+            dragHandler.Initialize(this);
+
+            // Create Title Text
+            GameObject titleTextObj = new GameObject("TitleText");
+            titleTextObj.transform.SetParent(titleBarObj.transform, false);
+            Text titleText = titleTextObj.AddComponent<Text>();
+            titleText.text = windowTitle;
+            titleText.color = Color.white;
+            titleText.font = Resources.GetBuiltinResource<Font>("LegacyRuntime.ttf");
+            titleText.fontSize = 14;
+            titleText.alignment = TextAnchor.MiddleLeft;
+
+            RectTransform titleTextRect = titleTextObj.GetComponent<RectTransform>();
+            titleTextRect.anchorMin = new Vector2(0, 0);
+            titleTextRect.anchorMax = new Vector2(1, 1);
+            titleTextRect.sizeDelta = new Vector2(-60, 0); // Leave space for close button
+            titleTextRect.anchoredPosition = new Vector2(10, 0);
+
+            // Create Close Button
+            GameObject closeButtonObj = new GameObject("CloseButton");
+            closeButtonObj.transform.SetParent(titleBarObj.transform, false);
+            Image closeButtonImage = closeButtonObj.AddComponent<Image>();
+            closeButtonImage.color = new Color(0.5f, 0.5f, 0.5f, 1f);
+
+            Button closeButton = closeButtonObj.AddComponent<Button>();
+            ColorBlock colors = closeButton.colors;
+            colors.normalColor = new Color(0.5f, 0.5f, 0.5f, 1f);
+            colors.highlightedColor = new Color(0.8f, 0.2f, 0.2f, 1f);
+            colors.pressedColor = new Color(0.6f, 0.1f, 0.1f, 1f);
+            closeButton.colors = colors;
+            closeButton.onClick.AddListener(OnCloseButtonClicked);
+
+            RectTransform closeButtonRect = closeButtonObj.GetComponent<RectTransform>();
+            closeButtonRect.anchorMin = new Vector2(1, 0);
+            closeButtonRect.anchorMax = new Vector2(1, 1);
+            closeButtonRect.pivot = new Vector2(1, 0.5f);
+            closeButtonRect.sizeDelta = new Vector2(30, 0);
+            closeButtonRect.anchoredPosition = new Vector2(0, 0);
+
+            // Create Close Button Text (X)
+            GameObject closeButtonTextObj = new GameObject("Text");
+            closeButtonTextObj.transform.SetParent(closeButtonObj.transform, false);
+            Text closeButtonText = closeButtonTextObj.AddComponent<Text>();
+            closeButtonText.text = "X";
+            closeButtonText.color = Color.white;
+            closeButtonText.font = Resources.GetBuiltinResource<Font>("LegacyRuntime.ttf");
+            closeButtonText.fontSize = 16;
+            closeButtonText.alignment = TextAnchor.MiddleCenter;
+            closeButtonText.fontStyle = FontStyle.Bold;
+
+            RectTransform closeButtonTextRect = closeButtonTextObj.GetComponent<RectTransform>();
+            closeButtonTextRect.anchorMin = Vector2.zero;
+            closeButtonTextRect.anchorMax = Vector2.one;
+            closeButtonTextRect.sizeDelta = Vector2.zero;
+            closeButtonTextRect.anchoredPosition = Vector2.zero;
+
+            // Create Content Area
+            GameObject contentAreaObj = new GameObject("ContentArea");
+            contentAreaObj.transform.SetParent(transform, false);
+            RectTransform contentAreaRect = contentAreaObj.AddComponent<RectTransform>();
+            contentAreaRect.anchorMin = new Vector2(0, 0);
+            contentAreaRect.anchorMax = new Vector2(1, 1);
+            contentAreaRect.sizeDelta = new Vector2(0, -titleBarHeight);
+            contentAreaRect.anchoredPosition = new Vector2(0, 0);
+
+            // Create Placeholder Text
+            GameObject placeholderTextObj = new GameObject("PlaceholderText");
+            placeholderTextObj.transform.SetParent(contentAreaObj.transform, false);
+            Text placeholderText = placeholderTextObj.AddComponent<Text>();
+            placeholderText.text = "Content Area";
+            placeholderText.color = new Color(0.8f, 0.8f, 0.8f, 1f);
+            placeholderText.font = Resources.GetBuiltinResource<Font>("LegacyRuntime.ttf");
+            placeholderText.fontSize = 12;
+            placeholderText.alignment = TextAnchor.MiddleCenter;
+
+            RectTransform placeholderTextRect = placeholderTextObj.GetComponent<RectTransform>();
+            placeholderTextRect.anchorMin = Vector2.zero;
+            placeholderTextRect.anchorMax = Vector2.one;
+            placeholderTextRect.sizeDelta = Vector2.zero;
+            placeholderTextRect.anchoredPosition = Vector2.zero;
+        }
+
+        /// <summary>
+        /// Called when pointer is pressed down on the title bar
+        /// </summary>
+        public void OnTitleBarPointerDown(Vector2 screenPosition)
+        {
+            isDragging = true;
+            RectTransform parentRect = rectTransform.parent as RectTransform;
+            if (parentRect != null)
+            {
+                RectTransformUtility.ScreenPointToLocalPointInRectangle(
+                    parentRect,
+                    screenPosition,
+                    null,
+                    out Vector2 localPoint
+                );
+                // Calculate offset from mouse position to window's current position
+                dragOffset = localPoint - rectTransform.anchoredPosition;
+            }
+        }
+
+        /// <summary>
+        /// Handles window dragging in Update loop
+        /// </summary>
+        private void HandleDragging()
+        {
+            if (isDragging)
+            {
+                if (Mouse.current.leftButton.isPressed)
+                {
+                    Vector2 mousePosition = Mouse.current.position.ReadValue();
+                    RectTransform parentRect = rectTransform.parent as RectTransform;
+                    if (parentRect != null)
+                    {
+                        RectTransformUtility.ScreenPointToLocalPointInRectangle(
+                            parentRect,
+                            mousePosition,
+                            null,
+                            out Vector2 localPoint
+                        );
+                        rectTransform.anchoredPosition = localPoint - dragOffset;
+                    }
+                }
+                else
+                {
+                    isDragging = false;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Called when close button is clicked
+        /// </summary>
+        private void OnCloseButtonClicked()
+        {
+            Destroy(gameObject);
+        }
+
+        /// <summary>
+        /// Sets the window title
+        /// </summary>
+        public void SetTitle(string title)
+        {
+            windowTitle = title;
+            Transform titleTextTransform = transform.Find("TitleBar/TitleText");
+            if (titleTextTransform != null)
+            {
+                Text titleText = titleTextTransform.GetComponent<Text>();
+                if (titleText != null)
+                {
+                    titleText.text = title;
+                }
+            }
+        }
+    }
+
+    /// <summary>
+    /// Helper component for handling title bar drag events
+    /// </summary>
+    public class TitleBarDragHandler : MonoBehaviour, IPointerDownHandler
+    {
+        private Window window;
+
+        public void Initialize(Window windowComponent)
+        {
+            window = windowComponent;
+        }
+
+        public void OnPointerDown(PointerEventData eventData)
+        {
+            if (window != null)
+            {
+                window.OnTitleBarPointerDown(eventData.position);
+            }
+        }
+    }
+}

Scripts/UI/Window.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: c373d34396797b8409702cdd08c931a4

Scripts/URDF.meta

@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: f5f15d11aa8ee414a8666922b45f56d5
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 

Scripts/URDF/URDFCoordinateConverter.cs

@@ -0,0 +1,65 @@
+using UnityEngine;
+
+namespace URDF
+{
+    /// <summary>
+    /// Utility class for converting between URDF coordinate system (right-handed, Z-up)
+    /// and Unity coordinate system (left-handed, Y-up)
+    /// </summary>
+    public static class URDFCoordinateConverter
+    {
+        /// <summary>
+        /// Convert URDF position (right-handed, Z-up) to Unity position (left-handed, Y-up)
+        /// Conversion: (x, y, z) -> (x, -z, y)
+        /// </summary>
+        public static Vector3 ConvertPosition(Vector3 urdfPosition)
+        {
+            return new Vector3(urdfPosition.x, -urdfPosition.z, urdfPosition.y);
+        }
+
+        /// <summary>
+        /// Convert URDF rotation (RPY in right-handed, Z-up) to Unity rotation (left-handed, Y-up)
+        /// </summary>
+        public static Quaternion ConvertRotation(Vector3 rpy)
+        {
+            // Convert RPY to Euler angles in Unity coordinate system
+            // RPY: Roll (around X), Pitch (around Y), Yaw (around Z)
+            // Unity: X, Y, Z rotations in left-handed system
+            
+            // First convert RPY to quaternion in URDF system, then convert to Unity
+            Quaternion roll = Quaternion.AngleAxis(rpy.x * Mathf.Rad2Deg, Vector3.right);
+            Quaternion pitch = Quaternion.AngleAxis(rpy.y * Mathf.Rad2Deg, Vector3.up);
+            Quaternion yaw = Quaternion.AngleAxis(rpy.z * Mathf.Rad2Deg, Vector3.forward);
+            
+            // In URDF: rotation order is typically Roll-Pitch-Yaw
+            Quaternion urdfRotation = yaw * pitch * roll;
+            
+            // Convert from URDF (right-handed, Z-up) to Unity (left-handed, Y-up)
+            // This is a coordinate system transformation
+            Matrix4x4 urdfToUnity = Matrix4x4.TRS(Vector3.zero, Quaternion.identity, Vector3.one);
+            urdfToUnity.m00 = 1; urdfToUnity.m01 = 0; urdfToUnity.m02 = 0;
+            urdfToUnity.m10 = 0; urdfToUnity.m11 = 0; urdfToUnity.m12 = -1;
+            urdfToUnity.m20 = 0; urdfToUnity.m21 = 1; urdfToUnity.m22 = 0;
+            
+            // Alternative approach: directly convert Euler angles
+            // URDF: X=right, Y=forward, Z=up
+            // Unity: X=right, Y=up, Z=forward
+            // So: Unity X = URDF X, Unity Y = URDF Z, Unity Z = -URDF Y
+            
+            float unityX = rpy.x * Mathf.Rad2Deg; // Roll stays the same
+            float unityY = rpy.z * Mathf.Rad2Deg; // Yaw becomes Y rotation
+            float unityZ = -rpy.y * Mathf.Rad2Deg; // Pitch becomes -Z rotation
+            
+            return Quaternion.Euler(unityX, unityY, unityZ);
+        }
+
+        /// <summary>
+        /// Convert URDF axis (right-handed, Z-up) to Unity axis (left-handed, Y-up)
+        /// </summary>
+        public static Vector3 ConvertAxis(Vector3 urdfAxis)
+        {
+            return new Vector3(urdfAxis.x, -urdfAxis.z, urdfAxis.y);
+        }
+    }
+}
+

Scripts/URDF/URDFCoordinateConverter.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 356a7ce62aadb3b4e9442b0cf21f3bf5

Scripts/URDF/URDFImporter.cs

@@ -0,0 +1,313 @@
+using System.Collections.Generic;
+using System.IO;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace URDF
+{
+    /// <summary>
+    /// Main URDF importer that creates Unity GameObjects from URDF data
+    /// </summary>
+    public static class URDFImporter
+    {
+        /// <summary>
+        /// Import a URDF file and create a GameObject hierarchy in the scene
+        /// </summary>
+        /// <param name="urdfFilePath">Path to the URDF file</param>
+        /// <param name="parentTransform">Parent transform to attach the robot to (null = scene root)</param>
+        /// <param name="ignoreURDFScale">If true, ignores URDF scale values (useful if models are already scaled to meters)</param>
+        /// <param name="jointPositionScale">Scale factor to apply to joint positions (default 1.0). Use 1000 if models were scaled from mm to m.</param>
+        /// <returns>Root GameObject of the imported robot</returns>
+        public static GameObject ImportURDF(string urdfFilePath, Transform parentTransform = null, bool ignoreURDFScale = false, float jointPositionScale = 1.0f)
+        {
+            // Parse URDF
+            URDFRobot robot = URDFParser.ParseURDF(urdfFilePath);
+            if (robot == null)
+            {
+                Debug.LogError("Failed to parse URDF file");
+                return null;
+            }
+
+            // Create root GameObject
+            GameObject rootObject = new GameObject(robot.name);
+            if (parentTransform != null)
+            {
+                rootObject.transform.SetParent(parentTransform);
+            }
+
+            // Create a dictionary to store link GameObjects
+            Dictionary<string, GameObject> linkGameObjects = new Dictionary<string, GameObject>();
+
+            // First pass: Create all link GameObjects
+            foreach (var linkPair in robot.links)
+            {
+                string linkName = linkPair.Key;
+                URDFLink link = linkPair.Value;
+
+                GameObject linkObject = new GameObject(linkName);
+                linkGameObjects[linkName] = linkObject;
+
+                // Set as child of root for now (will be reparented based on joints)
+                linkObject.transform.SetParent(rootObject.transform);
+            }
+
+            // Second pass: Set up joint hierarchy and apply transforms
+            foreach (var jointPair in robot.joints)
+            {
+                URDFJoint joint = jointPair.Value;
+
+                if (!linkGameObjects.ContainsKey(joint.parentLink) || 
+                    !linkGameObjects.ContainsKey(joint.childLink))
+                {
+                    Debug.LogWarning($"Joint {joint.name} references missing links: parent={joint.parentLink}, child={joint.childLink}");
+                    continue;
+                }
+
+                GameObject parentObject = linkGameObjects[joint.parentLink];
+                GameObject childObject = linkGameObjects[joint.childLink];
+
+                // Parent child to parent
+                childObject.transform.SetParent(parentObject.transform);
+
+                // Apply joint origin as local transform
+                Vector3 unityPosition = URDFCoordinateConverter.ConvertPosition(joint.origin.xyz);
+                Quaternion unityRotation = URDFCoordinateConverter.ConvertRotation(joint.origin.rpy);
+
+                // Scale joint positions if needed (e.g., if models were scaled from mm to m)
+                unityPosition *= jointPositionScale;
+
+                childObject.transform.localPosition = unityPosition;
+                childObject.transform.localRotation = unityRotation;
+            }
+
+            // Third pass: Add visual meshes to links
+            foreach (var linkPair in robot.links)
+            {
+                string linkName = linkPair.Key;
+                URDFLink link = linkPair.Value;
+                GameObject linkObject = linkGameObjects[linkName];
+
+                // Add visual meshes
+                foreach (URDFVisual visual in link.visuals)
+                {
+                    if (visual.geometry != null && visual.geometry.type == URDFGeometry.GeometryType.Mesh)
+                    {
+                        string meshPath = URDFMeshResolver.ResolveMeshPath(visual.geometry.meshFilename, urdfFilePath);
+                        if (!string.IsNullOrEmpty(meshPath))
+                        {
+                            #if UNITY_EDITOR
+                            Debug.Log($"Loading mesh for link {linkName}: {meshPath}");
+                            
+                            // Ensure path uses forward slashes for Unity
+                            meshPath = meshPath.Replace('\\', '/');
+                            
+                            // Load the mesh/model - OBJ files are imported as GameObjects in Unity
+                            GameObject meshPrefab = AssetDatabase.LoadAssetAtPath<GameObject>(meshPath);
+                            
+                            // Fallback: Try to find by filename if direct path fails
+                            if (meshPrefab == null)
+                            {
+                                string fileName = Path.GetFileNameWithoutExtension(meshPath);
+                                string[] guids = AssetDatabase.FindAssets(fileName + " t:GameObject");
+                                foreach (string guid in guids)
+                                {
+                                    string foundPath = AssetDatabase.GUIDToAssetPath(guid);
+                                    if (foundPath.Contains(fileName) && (foundPath.EndsWith(".obj") || foundPath.EndsWith(".fbx") || foundPath.EndsWith(".glb")))
+                                    {
+                                        Debug.Log($"Found mesh by search: {foundPath}");
+                                        meshPrefab = AssetDatabase.LoadAssetAtPath<GameObject>(foundPath);
+                                        if (meshPrefab != null)
+                                            break;
+                                    }
+                                }
+                            }
+                            
+                            if (meshPrefab != null)
+                            {
+                                Debug.Log($"Successfully loaded mesh prefab: {meshPath}");
+                                
+                                // Instantiate the mesh as a child
+                                GameObject meshInstance;
+                                
+                                // Try to instantiate as prefab first (preserves prefab connection)
+                                if (PrefabUtility.IsPartOfPrefabAsset(meshPrefab))
+                                {
+                                    meshInstance = PrefabUtility.InstantiatePrefab(meshPrefab) as GameObject;
+                                }
+                                else
+                                {
+                                    meshInstance = Object.Instantiate(meshPrefab);
+                                }
+                                
+                                if (meshInstance != null)
+                                {
+                                    meshInstance.name = Path.GetFileNameWithoutExtension(meshPath);
+                                    meshInstance.transform.SetParent(linkObject.transform);
+                                    
+                                    // Apply visual origin transform
+                                    Vector3 visualPos = URDFCoordinateConverter.ConvertPosition(visual.origin.xyz);
+                                    Quaternion visualRot = URDFCoordinateConverter.ConvertRotation(visual.origin.rpy);
+                                    meshInstance.transform.localPosition = visualPos;
+                                    meshInstance.transform.localRotation = visualRot;
+                                    
+                                    // Apply mesh scale from URDF
+                                    // Note: URDF scale="0.001" typically means models are in millimeters
+                                    // If models are already scaled to meters, ignoreURDFScale should be true
+                                    if (!ignoreURDFScale && visual.geometry.scale != Vector3.one)
+                                    {
+                                        meshInstance.transform.localScale = visual.geometry.scale;
+                                    }
+                                    else if (ignoreURDFScale)
+                                    {
+                                        // Models are already in meters, use unity scale
+                                        meshInstance.transform.localScale = Vector3.one;
+                                    }
+                                    
+                                    // Apply materials to all renderers
+                                    MeshRenderer[] renderers = meshInstance.GetComponentsInChildren<MeshRenderer>(true);
+                                    if (renderers != null && renderers.Length > 0)
+                                    {
+                                        Debug.Log($"Found {renderers.Length} renderer(s) on mesh {meshInstance.name}");
+                                        foreach (MeshRenderer renderer in renderers)
+                                        {
+                                            if (renderer == null) continue;
+                                            
+                                            // Check if the renderer already has materials (from .mtl file import)
+                                            bool hasValidMaterials = renderer.sharedMaterials != null && 
+                                                                     renderer.sharedMaterials.Length > 0 && 
+                                                                     renderer.sharedMaterials[0] != null;
+                                            
+                                            if (hasValidMaterials)
+                                            {
+                                                Debug.Log($"Renderer on {renderer.gameObject.name} already has materials from .mtl file, preserving them");
+                                                
+                                                // Only apply URDF color override if specified and different from default
+                                                if (visual.color != Color.white && visual.color.a > 0)
+                                                {
+                                                    // Create a copy of the existing material and apply color tint
+                                                    Material[] materials = new Material[renderer.sharedMaterials.Length];
+                                                    for (int i = 0; i < renderer.sharedMaterials.Length; i++)
+                                                    {
+                                                        if (renderer.sharedMaterials[i] != null)
+                                                        {
+                                                            materials[i] = new Material(renderer.sharedMaterials[i]);
+                                                            materials[i].color = visual.color;
+                                                        }
+                                                        else
+                                                        {
+                                                            materials[i] = renderer.sharedMaterials[i];
+                                                        }
+                                                    }
+                                                    renderer.materials = materials;
+                                                    Debug.Log($"Applied URDF color override to existing materials");
+                                                }
+                                                // Otherwise, keep the imported materials as-is
+                                            }
+                                            else
+                                            {
+                                                // No materials from .mtl file, create new ones
+                                                Debug.Log($"No materials found on {renderer.gameObject.name}, creating new material");
+                                                
+                                                Material mat;
+                                                
+                                                // Try URP shaders first, then fallback to built-in shaders
+                                                Shader shader = Shader.Find("Universal Render Pipeline/Lit");
+                                                if (shader == null)
+                                                {
+                                                    shader = Shader.Find("Universal Render Pipeline/Simple Lit");
+                                                }
+                                                if (shader == null)
+                                                {
+                                                    shader = Shader.Find("Standard");
+                                                }
+                                                if (shader == null)
+                                                {
+                                                    shader = Shader.Find("Diffuse");
+                                                }
+                                                
+                                                if (shader == null)
+                                                {
+                                                    Debug.LogError("Could not find any suitable shader for material!");
+                                                    continue;
+                                                }
+                                                
+                                                mat = new Material(shader);
+                                                
+                                                // Use color from URDF if specified, otherwise use default grey
+                                                if (visual.color != Color.white && visual.color.a > 0)
+                                                {
+                                                    mat.color = visual.color;
+                                                }
+                                                else
+                                                {
+                                                    // Default grey material
+                                                    mat.color = new Color(0.7f, 0.7f, 0.7f, 1f); // Light grey
+                                                }
+                                                
+                                                if (mat != null)
+                                                {
+                                                    renderer.material = mat;
+                                                    Debug.Log($"Applied new material to renderer on {renderer.gameObject.name}");
+                                                }
+                                                else
+                                                {
+                                                    Debug.LogWarning($"Failed to create material for renderer on {renderer.gameObject.name}");
+                                                }
+                                            }
+                                        }
+                                    }
+                                    else
+                                    {
+                                        Debug.LogWarning($"No renderers found on mesh instance: {meshInstance.name}");
+                                    }
+                                    
+                                    Debug.Log($"Successfully added mesh to link {linkName}: {meshInstance.name}");
+                                }
+                                else
+                                {
+                                    Debug.LogError($"Failed to instantiate mesh prefab: {meshPath}");
+                                }
+                            }
+                            else
+                            {
+                                Debug.LogWarning($"Could not load mesh prefab from: {meshPath}. File may not be imported in Unity yet.");
+                                
+                                // Try to refresh the asset database and reload
+                                AssetDatabase.Refresh();
+                                meshPrefab = AssetDatabase.LoadAssetAtPath<GameObject>(meshPath);
+                                if (meshPrefab != null)
+                                {
+                                    Debug.Log($"Mesh loaded after refresh: {meshPath}");
+                                    GameObject meshInstance = Object.Instantiate(meshPrefab);
+                                    meshInstance.name = Path.GetFileNameWithoutExtension(meshPath);
+                                    meshInstance.transform.SetParent(linkObject.transform);
+                                    
+                                    Vector3 visualPos = URDFCoordinateConverter.ConvertPosition(visual.origin.xyz);
+                                    Quaternion visualRot = URDFCoordinateConverter.ConvertRotation(visual.origin.rpy);
+                                    meshInstance.transform.localPosition = visualPos;
+                                    meshInstance.transform.localRotation = visualRot;
+                                    
+                                    if (visual.geometry.scale != Vector3.one)
+                                    {
+                                        meshInstance.transform.localScale = visual.geometry.scale;
+                                    }
+                                }
+                            }
+                            #endif
+                        }
+                        else
+                        {
+                            Debug.LogWarning($"Could not resolve mesh path for link {linkName}: {visual.geometry.meshFilename}");
+                        }
+                    }
+                }
+            }
+
+            Debug.Log($"Successfully imported URDF robot: {robot.name}");
+            return rootObject;
+        }
+    }
+}
+

Scripts/URDF/URDFImporter.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 6ae4f8683db54174dbecbc1cf34c7b50

Scripts/URDF/URDFMeshResolver.cs

@@ -0,0 +1,164 @@
+using System.Collections.Generic;
+using System.IO;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace URDF
+{
+    /// <summary>
+    /// Utility class for resolving URDF package:// URIs to Unity asset paths
+    /// </summary>
+    public static class URDFMeshResolver
+    {
+        /// <summary>
+        /// Resolve a URDF mesh filename (package:// URI) to a Unity asset path
+        /// </summary>
+        /// <param name="urdfFilename">URDF filename like "package://Little_Sophia_Face/meshes/Little_Sophia_Torso_.obj"</param>
+        /// <param name="urdfFilePath">Path to the URDF file for relative resolution</param>
+        /// <returns>Unity asset path relative to Assets folder, or null if not found</returns>
+        public static string ResolveMeshPath(string urdfFilename, string urdfFilePath)
+        {
+            if (string.IsNullOrEmpty(urdfFilename))
+            {
+                Debug.LogWarning("URDF mesh filename is null or empty");
+                return null;
+            }
+
+            // Handle package:// URIs
+            if (urdfFilename.StartsWith("package://"))
+            {
+                // Remove package:// prefix
+                string relativePath = urdfFilename.Substring("package://".Length);
+                
+                // Extract just the filename from the package path
+                string meshFileName = Path.GetFileName(relativePath);
+                string originalExtension = Path.GetExtension(meshFileName).ToLower();
+                string fileNameWithoutExt = Path.GetFileNameWithoutExtension(meshFileName);
+                
+                Debug.Log($"Resolving mesh: {urdfFilename} -> looking for {meshFileName} (extension: {originalExtension})");
+                
+                // Build list of extensions to try: first the one specified in URDF, then fallbacks
+                List<string> extensionsToTry = new List<string>();
+                if (!string.IsNullOrEmpty(originalExtension))
+                {
+                    extensionsToTry.Add(originalExtension); // Try the specified extension first
+                }
+                // Add fallback extensions (excluding the one we already added)
+                string[] fallbackExtensions = { ".obj", ".glb", ".fbx" };
+                foreach (string ext in fallbackExtensions)
+                {
+                    if (ext != originalExtension)
+                    {
+                        extensionsToTry.Add(ext);
+                    }
+                }
+                
+                // Try direct resolution first: robots/LittleSophia/meshes/filename
+                // This is the most reliable method
+                foreach (string ext in extensionsToTry)
+                {
+                    string testFileName = fileNameWithoutExt + ext;
+                    string directPath = $"robots/LittleSophia/meshes/{testFileName}";
+                    #if UNITY_EDITOR
+                    // Normalize path separators for Unity (always use forward slashes)
+                    directPath = directPath.Replace('\\', '/');
+                    
+                    string fullPath = Path.Combine(Application.dataPath, directPath);
+                    fullPath = fullPath.Replace('/', Path.DirectorySeparatorChar);
+                    
+                    if (File.Exists(fullPath))
+                    {
+                        Debug.Log($"Found mesh at: {directPath} (full path: {fullPath})");
+                        return directPath;
+                    }
+                    else
+                    {
+                        Debug.Log($"Checking for mesh: {fullPath} - File does not exist");
+                    }
+                    #endif
+                }
+                
+                // Fallback: Try to resolve relative to the URDF file location
+                string urdfDir = Path.GetDirectoryName(urdfFilePath);
+                if (!string.IsNullOrEmpty(urdfDir))
+                {
+                    string meshesDir = Path.Combine(urdfDir, "..", "meshes");
+                    meshesDir = Path.GetFullPath(meshesDir);
+                    
+                    foreach (string ext in extensionsToTry)
+                    {
+                        string testFileName = fileNameWithoutExt + ext;
+                        string meshPath = Path.Combine(meshesDir, testFileName);
+                        
+                        if (File.Exists(meshPath))
+                        {
+                            // Convert to Unity asset path (relative to Assets folder)
+                            string assetsPath = "Assets" + meshPath.Replace(Application.dataPath, "").Replace('\\', '/');
+                            Debug.Log($"Found mesh at: {assetsPath}");
+                            return assetsPath;
+                        }
+                    }
+                }
+            }
+            // Handle relative paths
+            else if (!Path.IsPathRooted(urdfFilename))
+            {
+                string urdfDir = Path.GetDirectoryName(urdfFilePath);
+                string meshPath = Path.Combine(urdfDir, urdfFilename);
+                meshPath = Path.GetFullPath(meshPath);
+                
+                if (File.Exists(meshPath))
+                {
+                    string assetsPath = "Assets" + meshPath.Replace(Application.dataPath, "").Replace('\\', '/');
+                    return assetsPath;
+                }
+            }
+            // Handle absolute paths
+            else
+            {
+                if (File.Exists(urdfFilename))
+                {
+                    string assetsPath = "Assets" + urdfFilename.Replace(Application.dataPath, "").Replace('\\', '/');
+                    return assetsPath;
+                }
+            }
+
+            Debug.LogWarning($"Could not resolve mesh path: {urdfFilename} (URDF file: {urdfFilePath})");
+            return null;
+        }
+
+        /// <summary>
+        /// Load a mesh from a Unity asset path
+        /// </summary>
+        public static Mesh LoadMesh(string assetPath)
+        {
+            if (string.IsNullOrEmpty(assetPath))
+                return null;
+
+            #if UNITY_EDITOR
+            // Try loading as a mesh asset
+            Mesh mesh = AssetDatabase.LoadAssetAtPath<Mesh>(assetPath);
+            if (mesh != null)
+                return mesh;
+
+            // Try loading as a model (FBX, OBJ, etc.) - Unity imports these as GameObjects
+            GameObject prefab = AssetDatabase.LoadAssetAtPath<GameObject>(assetPath);
+            if (prefab != null)
+            {
+                // Extract mesh from the prefab
+                MeshFilter meshFilter = prefab.GetComponentInChildren<MeshFilter>();
+                if (meshFilter != null && meshFilter.sharedMesh != null)
+                {
+                    return meshFilter.sharedMesh;
+                }
+            }
+            #endif
+
+            Debug.LogWarning($"Could not load mesh from: {assetPath}");
+            return null;
+        }
+    }
+}
+

Scripts/URDF/URDFMeshResolver.cs.meta

@@ -0,0 +1,2 @@
+fileFormatVersion: 2
+guid: 9f5789a382a854243beb5f5464fd0261

Scripts/URDF/URDFModels.cs

@@ -0,0 +1,151 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace URDF
+{
+    /// <summary>
+    /// Represents a URDF origin with position (xyz) and rotation (rpy - roll, pitch, yaw)
+    /// </summary>
+    [Serializable]
+    public class URDFOrigin
+    {
+        public Vector3 xyz;
+        public Vector3 rpy; // Roll, Pitch, Yaw in radians
+
+        public URDFOrigin()
+        {
+            xyz = Vector3.zero;
+            rpy = Vector3.zero;
+        }
+
+        public URDFOrigin(Vector3 xyz, Vector3 rpy)
+        {
+            this.xyz = xyz;
+            this.rpy = rpy;
+        }
+    }
+
+    /// <summary>
+    /// Represents URDF geometry (mesh, box, sphere, cylinder)
+    /// </summary>
+    [Serializable]
+    public class URDFGeometry
+    {
+        public enum GeometryType
+        {
+            Mesh,
+            Box,
+            Sphere,
+            Cylinder
+        }
+
+        public GeometryType type;
+        public string meshFilename; // For mesh type
+        public Vector3 scale; // For mesh type
+        public Vector3 size; // For box type
+        public float radius; // For sphere/cylinder type
+        public float length; // For cylinder type
+    }
+
+    /// <summary>
+    /// Represents a URDF visual element
+    /// </summary>
+    [Serializable]
+    public class URDFVisual
+    {
+        public URDFOrigin origin;
+        public URDFGeometry geometry;
+        public string materialName;
+        public Color color;
+    }
+
+    /// <summary>
+    /// Represents a URDF link
+    /// </summary>
+    [Serializable]
+    public class URDFLink
+    {
+        public string name;
+        public List<URDFVisual> visuals;
+        public URDFOrigin inertialOrigin;
+        public float mass;
+        public Vector3 inertia; // ixx, iyy, izz
+
+        public URDFLink(string name)
+        {
+            this.name = name;
+            this.visuals = new List<URDFVisual>();
+            this.inertialOrigin = new URDFOrigin();
+            this.mass = 0f;
+            this.inertia = Vector3.zero;
+        }
+    }
+
+    /// <summary>
+    /// Represents a URDF joint limit
+    /// </summary>
+    [Serializable]
+    public class URDFJointLimit
+    {
+        public float lower;
+        public float upper;
+        public float effort;
+        public float velocity;
+    }
+
+    /// <summary>
+    /// Represents a URDF joint
+    /// </summary>
+    [Serializable]
+    public class URDFJoint
+    {
+        public enum JointType
+        {
+            Revolute,
+            Continuous,
+            Prismatic,
+            Fixed,
+            Floating,
+            Planar
+        }
+
+        public string name;
+        public JointType type;
+        public string parentLink;
+        public string childLink;
+        public URDFOrigin origin;
+        public Vector3 axis; // Rotation/translation axis
+        public URDFJointLimit limit;
+
+        public URDFJoint(string name)
+        {
+            this.name = name;
+            this.type = JointType.Fixed;
+            this.parentLink = "";
+            this.childLink = "";
+            this.origin = new URDFOrigin();
+            this.axis = Vector3.up;
+            this.limit = new URDFJointLimit();
+        }
+    }
+
+    /// <summary>
+    /// Represents a complete URDF robot model
+    /// </summary>
+    [Serializable]
+    public class URDFRobot
+    {
+        public string name;
+        public Dictionary<string, URDFLink> links;
+        public Dictionary<string, URDFJoint> joints;
+
+        public URDFRobot(string name)
+        {
+            this.name = name;
+            this.links = new Dictionary<string, URDFLink>();
+            this.joints = new Dictionary<string, URDFJoint>();
+        }
+    }
+}
+

Scripts/URDF/URDFModels.cs.meta

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+fileFormatVersion: 2
+guid: 984b9fdcf753a9343887b67c355424a0

Scripts/URDF/URDFParser.cs

@@ -0,0 +1,336 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Xml;
+using UnityEngine;
+
+namespace URDF
+{
+    /// <summary>
+    /// Parser for URDF XML files
+    /// </summary>
+    public static class URDFParser
+    {
+        /// <summary>
+        /// Parse a URDF file and return a URDFRobot model
+        /// </summary>
+        public static URDFRobot ParseURDF(string filePath)
+        {
+            if (!File.Exists(filePath))
+            {
+                Debug.LogError($"URDF file not found: {filePath}");
+                return null;
+            }
+
+            XmlDocument doc = new XmlDocument();
+            try
+            {
+                doc.Load(filePath);
+            }
+            catch (Exception e)
+            {
+                Debug.LogError($"Failed to load URDF XML: {e.Message}");
+                return null;
+            }
+
+            XmlNode robotNode = doc.SelectSingleNode("robot");
+            if (robotNode == null)
+            {
+                Debug.LogError("URDF file does not contain a <robot> root element");
+                return null;
+            }
+
+            string robotName = GetAttribute(robotNode, "name", "robot");
+            URDFRobot robot = new URDFRobot(robotName);
+
+            // Parse all links
+            XmlNodeList linkNodes = robotNode.SelectNodes("link");
+            foreach (XmlNode linkNode in linkNodes)
+            {
+                string linkName = GetAttribute(linkNode, "name");
+                if (string.IsNullOrEmpty(linkName))
+                {
+                    Debug.LogWarning("Found link without name attribute, skipping");
+                    continue;
+                }
+
+                URDFLink link = ParseLink(linkNode, linkName);
+                robot.links[linkName] = link;
+            }
+
+            // Parse all joints
+            XmlNodeList jointNodes = robotNode.SelectNodes("joint");
+            foreach (XmlNode jointNode in jointNodes)
+            {
+                string jointName = GetAttribute(jointNode, "name");
+                if (string.IsNullOrEmpty(jointName))
+                {
+                    Debug.LogWarning("Found joint without name attribute, skipping");
+                    continue;
+                }
+
+                URDFJoint joint = ParseJoint(jointNode, jointName);
+                robot.joints[jointName] = joint;
+            }
+
+            Debug.Log($"Parsed URDF: {robot.links.Count} links, {robot.joints.Count} joints");
+            return robot;
+        }
+
+        private static URDFLink ParseLink(XmlNode linkNode, string linkName)
+        {
+            URDFLink link = new URDFLink(linkName);
+
+            // Parse visual elements
+            XmlNodeList visualNodes = linkNode.SelectNodes("visual");
+            foreach (XmlNode visualNode in visualNodes)
+            {
+                URDFVisual visual = ParseVisual(visualNode);
+                if (visual != null)
+                {
+                    link.visuals.Add(visual);
+                }
+            }
+
+            // Parse inertial properties
+            XmlNode inertialNode = linkNode.SelectSingleNode("inertial");
+            if (inertialNode != null)
+            {
+                XmlNode originNode = inertialNode.SelectSingleNode("origin");
+                if (originNode != null)
+                {
+                    link.inertialOrigin = ParseOrigin(originNode);
+                }
+
+                XmlNode massNode = inertialNode.SelectSingleNode("mass");
+                if (massNode != null)
+                {
+                    link.mass = ParseFloat(GetAttribute(massNode, "value"), 0f);
+                }
+
+                XmlNode inertiaNode = inertialNode.SelectSingleNode("inertia");
+                if (inertiaNode != null)
+                {
+                    link.inertia = new Vector3(
+                        ParseFloat(GetAttribute(inertiaNode, "ixx"), 0f),
+                        ParseFloat(GetAttribute(inertiaNode, "iyy"), 0f),
+                        ParseFloat(GetAttribute(inertiaNode, "izz"), 0f)
+                    );
+                }
+            }
+
+            return link;
+        }
+
+        private static URDFVisual ParseVisual(XmlNode visualNode)
+        {
+            URDFVisual visual = new URDFVisual();
+
+            // Parse origin
+            XmlNode originNode = visualNode.SelectSingleNode("origin");
+            if (originNode != null)
+            {
+                visual.origin = ParseOrigin(originNode);
+            }
+            else
+            {
+                visual.origin = new URDFOrigin();
+            }
+
+            // Parse geometry
+            XmlNode geometryNode = visualNode.SelectSingleNode("geometry");
+            if (geometryNode != null)
+            {
+                visual.geometry = ParseGeometry(geometryNode);
+            }
+
+            // Parse material
+            XmlNode materialNode = visualNode.SelectSingleNode("material");
+            if (materialNode != null)
+            {
+                visual.materialName = GetAttribute(materialNode, "name");
+                XmlNode colorNode = materialNode.SelectSingleNode("color");
+                if (colorNode != null)
+                {
+                    visual.color = ParseColor(GetAttribute(colorNode, "rgba"));
+                }
+            }
+
+            return visual;
+        }
+
+        private static URDFGeometry ParseGeometry(XmlNode geometryNode)
+        {
+            URDFGeometry geometry = new URDFGeometry();
+
+            // Check for mesh
+            XmlNode meshNode = geometryNode.SelectSingleNode("mesh");
+            if (meshNode != null)
+            {
+                geometry.type = URDFGeometry.GeometryType.Mesh;
+                geometry.meshFilename = GetAttribute(meshNode, "filename");
+                geometry.scale = ParseVector3(GetAttribute(meshNode, "scale"), Vector3.one);
+            }
+            // Check for box
+            else if (geometryNode.SelectSingleNode("box") != null)
+            {
+                geometry.type = URDFGeometry.GeometryType.Box;
+                XmlNode boxNode = geometryNode.SelectSingleNode("box");
+                geometry.size = ParseVector3(GetAttribute(boxNode, "size"), Vector3.one);
+            }
+            // Check for sphere
+            else if (geometryNode.SelectSingleNode("sphere") != null)
+            {
+                geometry.type = URDFGeometry.GeometryType.Sphere;
+                XmlNode sphereNode = geometryNode.SelectSingleNode("sphere");
+                geometry.radius = ParseFloat(GetAttribute(sphereNode, "radius"), 0.5f);
+            }
+            // Check for cylinder
+            else if (geometryNode.SelectSingleNode("cylinder") != null)
+            {
+                geometry.type = URDFGeometry.GeometryType.Cylinder;
+                XmlNode cylinderNode = geometryNode.SelectSingleNode("cylinder");
+                geometry.radius = ParseFloat(GetAttribute(cylinderNode, "radius"), 0.5f);
+                geometry.length = ParseFloat(GetAttribute(cylinderNode, "length"), 1f);
+            }
+
+            return geometry;
+        }
+
+        private static URDFJoint ParseJoint(XmlNode jointNode, string jointName)
+        {
+            URDFJoint joint = new URDFJoint(jointName);
+
+            // Parse joint type
+            string typeStr = GetAttribute(jointNode, "type", "fixed").ToLower();
+            switch (typeStr)
+            {
+                case "revolute":
+                    joint.type = URDFJoint.JointType.Revolute;
+                    break;
+                case "continuous":
+                    joint.type = URDFJoint.JointType.Continuous;
+                    break;
+                case "prismatic":
+                    joint.type = URDFJoint.JointType.Prismatic;
+                    break;
+                case "fixed":
+                    joint.type = URDFJoint.JointType.Fixed;
+                    break;
+                case "floating":
+                    joint.type = URDFJoint.JointType.Floating;
+                    break;
+                case "planar":
+                    joint.type = URDFJoint.JointType.Planar;
+                    break;
+                default:
+                    joint.type = URDFJoint.JointType.Fixed;
+                    break;
+            }
+
+            // Parse parent and child links
+            XmlNode parentNode = jointNode.SelectSingleNode("parent");
+            if (parentNode != null)
+            {
+                joint.parentLink = GetAttribute(parentNode, "link");
+            }
+
+            XmlNode childNode = jointNode.SelectSingleNode("child");
+            if (childNode != null)
+            {
+                joint.childLink = GetAttribute(childNode, "link");
+            }
+
+            // Parse origin
+            XmlNode originNode = jointNode.SelectSingleNode("origin");
+            if (originNode != null)
+            {
+                joint.origin = ParseOrigin(originNode);
+            }
+
+            // Parse axis
+            XmlNode axisNode = jointNode.SelectSingleNode("axis");
+            if (axisNode != null)
+            {
+                joint.axis = ParseVector3(GetAttribute(axisNode, "xyz"), Vector3.up);
+            }
+
+            // Parse limit
+            XmlNode limitNode = jointNode.SelectSingleNode("limit");
+            if (limitNode != null)
+            {
+                joint.limit = new URDFJointLimit
+                {
+                    lower = ParseFloat(GetAttribute(limitNode, "lower"), -Mathf.PI),
+                    upper = ParseFloat(GetAttribute(limitNode, "upper"), Mathf.PI),
+                    effort = ParseFloat(GetAttribute(limitNode, "effort"), 1000f),
+                    velocity = ParseFloat(GetAttribute(limitNode, "velocity"), 1f)
+                };
+            }
+
+            return joint;
+        }
+
+        private static URDFOrigin ParseOrigin(XmlNode originNode)
+        {
+            URDFOrigin origin = new URDFOrigin();
+            origin.xyz = ParseVector3(GetAttribute(originNode, "xyz"), Vector3.zero);
+            origin.rpy = ParseVector3(GetAttribute(originNode, "rpy"), Vector3.zero);
+            return origin;
+        }
+
+        private static Vector3 ParseVector3(string str, Vector3 defaultValue)
+        {
+            if (string.IsNullOrEmpty(str))
+                return defaultValue;
+
+            string[] parts = str.Trim().Split(new[] { ' ' }, StringSplitOptions.RemoveEmptyEntries);
+            if (parts.Length >= 3)
+            {
+                return new Vector3(
+                    ParseFloat(parts[0], defaultValue.x),
+                    ParseFloat(parts[1], defaultValue.y),
+                    ParseFloat(parts[2], defaultValue.z)
+                );
+            }
+            return defaultValue;
+        }
+
+        private static Color ParseColor(string rgbaStr)
+        {
+            if (string.IsNullOrEmpty(rgbaStr))
+                return Color.white;
+
+            string[] parts = rgbaStr.Trim().Split(new[] { ' ' }, StringSplitOptions.RemoveEmptyEntries);
+            if (parts.Length >= 4)
+            {
+                return new Color(
+                    ParseFloat(parts[0], 1f),
+                    ParseFloat(parts[1], 1f),
+                    ParseFloat(parts[2], 1f),
+                    ParseFloat(parts[3], 1f)
+                );
+            }
+            return Color.white;
+        }
+
+        private static float ParseFloat(string str, float defaultValue)
+        {
+            if (string.IsNullOrEmpty(str))
+                return defaultValue;
+
+            if (float.TryParse(str, out float result))
+                return result;
+
+            return defaultValue;
+        }
+
+        private static string GetAttribute(XmlNode node, string attributeName, string defaultValue = "")
+        {
+            if (node?.Attributes?[attributeName] != null)
+                return node.Attributes[attributeName].Value;
+            return defaultValue;
+        }
+    }
+}
+

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robots/LittleSophia/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(little_sophia_description)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Install URDF files
+install(DIRECTORY urdf/
+  DESTINATION share/${PROJECT_NAME}/urdf
+  FILES_MATCHING PATTERN "*.urdf"
+)
+
+# Install mesh files
+install(DIRECTORY meshes/
+  DESTINATION share/${PROJECT_NAME}/meshes
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+)
+
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+<robot name="LittleSophia">
+  <link name="Little_Sophia_Arm_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Arm_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Torso_to_Little_Sophia_Arm_Left" type="fixed">
+    <parent link="Little_Sophia_Torso"/>
+    <child link="Little_Sophia_Arm_Left"/>
+    <origin xyz="38.0 8.5 47.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Arm_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Arm_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Torso_to_Little_Sophia_Arm_Right" type="fixed">
+    <parent link="Little_Sophia_Torso"/>
+    <child link="Little_Sophia_Arm_Right"/>
+    <origin xyz="-38.0 8.5 47.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Brow_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Brow_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Brow_Left" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Brow_Left"/>
+    <origin xyz="15.0 12.0 83.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Brow_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Brow_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Brow_Right" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Brow_Right"/>
+    <origin xyz="-15.0 12.0 83.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Eye_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Eye_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Eye_Left" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Eye_Left"/>
+    <origin xyz="20.299999237060547 -15.0 71.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Eye_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Eye_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Eye_Right" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Eye_Right"/>
+    <origin xyz="-18.869998931884766 -15.0 71.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Eyelid_Lower">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Eyelid_Lower.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Eyelid_Lower" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Eyelid_Lower"/>
+    <origin xyz="1.0 -17.0 61.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Eyelid_Upper">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Eyelid_Upper.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Eyelid_Upper" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Eyelid_Upper"/>
+    <origin xyz="1.0 -17.0 61.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Face">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Face.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Torso_to_Little_Sophia_Face" type="fixed">
+    <parent link="Little_Sophia_Torso"/>
+    <child link="Little_Sophia_Face"/>
+    <origin xyz="0.0 0.0 66.76000213623047" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Foot_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Foot_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Lower_Leg_Right_to_Little_Sophia_Foot_Left" type="fixed">
+    <parent link="Little_Sophia_Lower_Leg_Right"/>
+    <child link="Little_Sophia_Foot_Left"/>
+    <origin xyz="4.5 5.400000095367432 -43.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Foot_Left_Outer">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Foot_Left_Outer.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Foot_Left_to_Little_Sophia_Foot_Left_Outer" type="fixed">
+    <parent link="Little_Sophia_Foot_Left"/>
+    <child link="Little_Sophia_Foot_Left_Outer"/>
+    <origin xyz="20.5 33.5 -19.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Foot_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Foot_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Lower_Leg_Left_to_Little_Sophia_Foot_Right" type="fixed">
+    <parent link="Little_Sophia_Lower_Leg_Left"/>
+    <child link="Little_Sophia_Foot_Right"/>
+    <origin xyz="-3.5 5.400000095367432 -43.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Foot_Right_Outer">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Foot_Right_Outer.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Foot_Right_to_Little_Sophia_Foot_Right_Outer" type="fixed">
+    <parent link="Little_Sophia_Foot_Right"/>
+    <child link="Little_Sophia_Foot_Right_Outer"/>
+    <origin xyz="-20.5 33.5 -19.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Hip_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Hip_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Torso_to_Little_Sophia_Hip_Left" type="fixed">
+    <parent link="Little_Sophia_Torso"/>
+    <child link="Little_Sophia_Hip_Left"/>
+    <origin xyz="28.0 1.0 -21.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Hip_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Hip_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Torso_to_Little_Sophia_Hip_Right" type="fixed">
+    <parent link="Little_Sophia_Torso"/>
+    <child link="Little_Sophia_Hip_Right"/>
+    <origin xyz="-24.5 1.0 -21.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Lower_Leg_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Lower_Leg_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Upper_Leg_Right_to_Little_Sophia_Lower_Leg_Left" type="fixed">
+    <parent link="Little_Sophia_Upper_Leg_Right"/>
+    <child link="Little_Sophia_Lower_Leg_Left"/>
+    <origin xyz="-0.5 -9.399999618530273 -58.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Lower_Leg_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Lower_Leg_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Upper_Leg_Left_to_Little_Sophia_Lower_Leg_Right" type="fixed">
+    <parent link="Little_Sophia_Upper_Leg_Left"/>
+    <child link="Little_Sophia_Lower_Leg_Right"/>
+    <origin xyz="1.0 -9.399999618530273 -58.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Smile_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Smile_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Smile_Left" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Smile_Left"/>
+    <origin xyz="-22.0 6.5 36.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Smile_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Smile_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Smile_Right" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Smile_Right"/>
+    <origin xyz="22.0 6.5 36.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Teeth_Lower">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Teeth_Lower.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Teeth_Lower" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Teeth_Lower"/>
+    <origin xyz="1.0 -10.0 36.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Teeth_Upper">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Teeth_Upper.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Face_to_Little_Sophia_Teeth_Upper" type="fixed">
+    <parent link="Little_Sophia_Face"/>
+    <child link="Little_Sophia_Teeth_Upper"/>
+    <origin xyz="1.0 -10.0 36.23999786376953" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Torso">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Torso.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="Little_Sophia_Upper_Leg_Left">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Upper_Leg_Left.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Hip_Left_to_Little_Sophia_Upper_Leg_Left" type="fixed">
+    <parent link="Little_Sophia_Hip_Left"/>
+    <child link="Little_Sophia_Upper_Leg_Left"/>
+    <origin xyz="1.0 1.0 -21.0" rpy="0 0 0"/>
+  </joint>
+  <link name="Little_Sophia_Upper_Leg_Right">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/Little_Sophia_Upper_Leg_Right.obj"/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name="Little_Sophia_Hip_Right_to_Little_Sophia_Upper_Leg_Right" type="fixed">
+    <parent link="Little_Sophia_Hip_Right"/>
+    <child link="Little_Sophia_Upper_Leg_Right"/>
+    <origin xyz="0.5 1.0 -21.0" rpy="0 0 0"/>
+  </joint>
+</robot>

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+# www.blender.org
+
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+Kd 1.000000 1.000000 1.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
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+illum 3
+
+newmtl Skin.004
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+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
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+# www.blender.org
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+illum 3

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+# www.blender.org
+
+newmtl Material.006
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+# www.blender.org
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+newmtl Material.001
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+# Blender 4.5.4 LTS MTL File: 'LittleSophiaURDF.blend'
+# www.blender.org
+
+newmtl Eye
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+# www.blender.org
+
+newmtl Eye.001
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+# www.blender.org
+
+newmtl Skin.002
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+# www.blender.org
+
+newmtl Skin.003
+Ns 328.320618
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+# www.blender.org
+
+newmtl Skin.001
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+# Blender 4.5.4 LTS MTL File: 'LittleSophiaURDF.blend'
+# www.blender.org
+
+newmtl Black.001
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+# Blender 4.5.4 LTS MTL File: 'LittleSophiaURDF.blend'
+# www.blender.org
+
+newmtl Black.004
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+# Blender 4.5.4 LTS MTL File: 'LittleSophiaURDF.blend'
+# www.blender.org
+
+newmtl Black.003
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+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 3