diff --git a/URDFEditor.js b/URDFEditor.js
index 75c1d69..a83ba58 100644
--- a/URDFEditor.js
+++ b/URDFEditor.js
@@ -17,8 +17,8 @@ export class URDFEditor {
     this.scene = new THREE.Scene();
     this.scene.background = new THREE.Color(0xaaaaaa);
 
-    this.camera = new THREE.PerspectiveCamera(45, canvas.clientWidth / canvas.clientHeight, 0.1, 100);
-    this.camera.position.set(2, 2, 2);
+    this.camera = new THREE.PerspectiveCamera(60, canvas.clientWidth / canvas.clientHeight, 0.1, 100);
+    this.camera.position.set(-0.3, 0.5, -0.7);
     this.camera.lookAt(0, 0, 0);
 
     this.renderer = new THREE.WebGLRenderer({ canvas, antialias: true });
@@ -38,7 +38,7 @@ export class URDFEditor {
 
 
     this.controls = new OrbitControls(this.camera, this.renderer.domElement);
-    this.controls.target.set(0, 0.5, 0);
+    this.controls.target.set(0, 0.1, 0);
     this.controls.update();
 
     this.raycaster = new THREE.Raycaster();
@@ -230,6 +230,7 @@ export class URDFEditor {
     console.log(lower, upper);
 
     const jointTransmission = this.robot.joints[jointName].transmission;
+    if (!jointTransmission) return;
     const encoderRange = jointTransmission.encoderRange / jointTransmission.mechanicalReduction;
     const sector = createRotationSector(this.worldAxis, lower, upper, encoderRange);
     const indicator = createAngleIndicator(this.worldAxis, this.jointAngles[jointName] ?? 0);
@@ -342,6 +343,10 @@ function radiansToTicks(radians, actuator) {
 
 function getJointLimits(jointName, robot) {
   const transmission = robot.joints[jointName].transmission;
+
+  if (!transmission) {
+    return { lower: -Math.PI, upper: Math.PI };
+  }
   //console.log(transmission.encoderValidMin, transmission.encoderValidMax);
   const lowerRad = ticksToRadians(transmission.encoderValidMin, transmission);
   const upperRad = ticksToRadians(transmission.encoderValidMax, transmission);
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Arm_Left.glb b/robots/LittleSophia/meshes/Little_Sophia_Arm_Left.glb
new file mode 100644
index 0000000..c809016
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Arm_Left.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Arm_Right.glb b/robots/LittleSophia/meshes/Little_Sophia_Arm_Right.glb
new file mode 100644
index 0000000..52f5afc
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Arm_Right.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Hip_Left.glb b/robots/LittleSophia/meshes/Little_Sophia_Hip_Left.glb
new file mode 100644
index 0000000..456df94
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Hip_Left.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Hip_Right.glb b/robots/LittleSophia/meshes/Little_Sophia_Hip_Right.glb
new file mode 100644
index 0000000..85b7c64
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Hip_Right.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Lower_Leg_Left.glb b/robots/LittleSophia/meshes/Little_Sophia_Lower_Leg_Left.glb
new file mode 100644
index 0000000..4f3c332
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Lower_Leg_Left.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Lower_Leg_Right.glb b/robots/LittleSophia/meshes/Little_Sophia_Lower_Leg_Right.glb
new file mode 100644
index 0000000..438b957
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Lower_Leg_Right.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Torso.glb b/robots/LittleSophia/meshes/Little_Sophia_Torso.glb
new file mode 100644
index 0000000..b614fe2
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Torso.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Upper_Leg_Left.glb b/robots/LittleSophia/meshes/Little_Sophia_Upper_Leg_Left.glb
new file mode 100644
index 0000000..055516e
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Upper_Leg_Left.glb differ
diff --git a/robots/LittleSophia/meshes/Little_Sophia_Upper_Leg_Right.glb b/robots/LittleSophia/meshes/Little_Sophia_Upper_Leg_Right.glb
new file mode 100644
index 0000000..ee878f9
Binary files /dev/null and b/robots/LittleSophia/meshes/Little_Sophia_Upper_Leg_Right.glb differ
diff --git a/robots/LittleSophia/urdf/LittleSophia.urdf b/robots/LittleSophia/urdf/LittleSophia.urdf
index 72ac6fa..b7d53f2 100644
--- a/robots/LittleSophia/urdf/LittleSophia.urdf
+++ b/robots/LittleSophia/urdf/LittleSophia.urdf
@@ -3,14 +3,15 @@
   <joint name="base_joint" type="fixed">
     <parent link="base_footprint" />
     <child link="base_link" />
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <origin xyz="0 0 0.11" rpy="0 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
   </joint>
   <link name="base_link">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <box size="0.1 0.05 0.05" />
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Torso.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="base_link-material">
         <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
@@ -25,50 +26,23 @@
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0"
+        izz="0.16666666666666666" />
     </inertial>
   </link>
-  <joint name="base_link_to_spine_1" type="revolute">
-  <parent link="base_link"/>
-  <child link="spine_1"/>
-  <origin xyz="0 0 0.0337" rpy="0 0 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-  <link name="spine_1">
-    <visual>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.05 0.1" />
-      </geometry>
-      <material name="spine_1-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.05 0.1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
-    </inertial>
-  </link>
-  <joint name="spine_1_to_upper_arm_right" type="revolute">
-  <parent link="spine_1"/>
-  <child link="upper_arm_right"/>
-  <origin xyz="0.0624 0 0.0973" rpy="-3.1416 -0.6587 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
+  <joint name="base_link_to_upper_arm_right" type="revolute">
+    <parent link="base_link" />
+    <child link="upper_arm_right" />
+    <origin xyz="0.04 0 0.048" rpy="0 0 0" />
+    <axis xyz="-0.9997 -0.0114 0.0229" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
   <link name="upper_arm_right">
     <visual>
-      <origin xyz="0 0 0.03" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <box size="0.03 0.03 0.06" />
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Right.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="upper_arm_right-material">
         <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
@@ -83,413 +57,314 @@
     <inertial>
       <origin xyz="0 0 0.03" rpy="0 0 0" />
       <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0"
+        izz="0.16666666666666666" />
     </inertial>
   </link>
- <joint name="upper_arm_right_to_lower_arm_right" type="revolute">
-  <parent link="upper_arm_right"/>
-  <child link="lower_arm_right"/>
-  <origin xyz="0.0 0 .065" rpy="0 0 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-  <link name="lower_arm_right">
-    <visual>
-      <origin xyz="0 0 0.025" rpy="0 0 0" />
-      <geometry>
-        <box size="0.03 0.03 0.05" />
-      </geometry>
-      <material name="lower_arm_right-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.025" rpy="0 0 0" />
-      <geometry>
-        <box size="0.03 0.03 0.05" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.025" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
-    </inertial>
-  </link>
- <joint name="lower_arm_right_to_hand_right" type="revolute">
-  <parent link="lower_arm_right"/>
-  <child link="hand_right"/>
-  <origin xyz="0 0 0.055" rpy="0 0 0"/>
-  <axis xyz="0 1 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-  <link name="hand_right">
-    <visual>
-      <origin xyz="0 0 0.015" rpy="0 0 0" />
-      <geometry>
-        <box size="0.03 0.03 0.03" />
-      </geometry>
-      <material name="hand_right-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.015" rpy="0 0 0" />
-      <geometry>
-        <box size="0.03 0.03 0.03" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.015" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
-    </inertial>
-  </link>
-  
+
+
   <!-- Left Upper Arm -->
-<joint name="spine_1_to_upper_arm_left" type="revolute">
-  <parent link="spine_1"/>
-  <child link="upper_arm_left"/>
-  <origin xyz="-0.0624 0 0.0973" rpy="3.1416 0.6587 0"/>
-  <axis xyz="-1 0 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-<link name="upper_arm_left">
-  <visual>
-    <origin xyz="0 0 0.03" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.03 0.03 0.06"/>
-    </geometry>
-    <material name="upper_arm_left-material">
-      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 0.03" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.03 0.03 0.06"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 0.03" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
-  </inertial>
-</link>
-
-
-<!-- Left Lower Arm -->
-<joint name="upper_arm_left_to_lower_arm_left" type="revolute">
-  <parent link="upper_arm_left"/>
-  <child link="lower_arm_left"/>
-  <origin xyz="0.0 0 0.065" rpy="0 0 0"/>
-  <axis xyz="-1 0 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-<link name="lower_arm_left">
-  <visual>
-    <origin xyz="0 0 0.025" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.03 0.03 0.05"/>
-    </geometry>
-    <material name="lower_arm_left-material">
-      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 0.025" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.03 0.03 0.05"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 0.025" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
-  </inertial>
-</link>
-
-
-<!-- Left Hand -->
-<joint name="lower_arm_left_to_hand_left" type="revolute">
-  <parent link="lower_arm_left"/>
-  <child link="hand_left"/>
-  <origin xyz="0 0 0.055" rpy="0 0 0"/>
-  <axis xyz="0 1 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-
-<link name="hand_left">
-  <visual>
-    <origin xyz="0 0 0.015" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.03 0.03 0.03"/>
-    </geometry>
-    <material name="hand_left-material">
-      <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 0.015" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.03 0.03 0.03"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 0.015" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
-  </inertial>
-</link>
-
-
-
-<joint name="base_link_to_upper_leg_right" type="revolute">
+  <joint name="base_link_to_upper_arm_left" type="revolute">
     <parent link="base_link" />
+    <child link="upper_arm_left" />
+    <origin xyz="-0.04 0 0.048" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+
+  <link name="upper_arm_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Left.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="upper_arm_left-material">
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0.03" rpy="0 0 0" />
+      <geometry>
+        <box size="0.03 0.03 0.06" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0.03" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0"
+        izz="0.16666666666666666" />
+    </inertial>
+  </link>
+
+  <joint name="base_link_to_hip_right" type="revolute">
+    <parent link="base_link" />
+    <child link="hip_right" />
+    <origin xyz="0.024 0.005 -0.023" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+  <link name="hip_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Right.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="upper_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 0.07" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
+    </inertial>
+  </link>
+
+  <joint name="hip_right_to_upper_leg_right" type="revolute">
+    <parent link="hip_right" />
     <child link="upper_leg_right" />
-    <origin xyz="0.035 0 -0.035" rpy="0 0 0" />
-    <axis xyz="1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>  </joint>
+    <origin xyz="0.009 0.0 -0.023" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
 
   <link name="upper_leg_right">
-  <visual>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-    <material name="upper_leg_right-material">
-      <color rgba="0.0021 0.0497 0.4851 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
-  </inertial>
-</link>
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Right.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+      <material name="upper_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 0.07" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
+    </inertial>
+  </link>
 
 
   <joint name="upper_leg_right_to_lower_leg_right" type="revolute">
-  <parent link="upper_leg_right"/>
-  <child link="lower_leg_right"/>
-  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
+    <parent link="upper_leg_right" />
+    <child link="lower_leg_right" />
+    <origin xyz="-0.001 0.0075 -0.0575" rpy="-0.14 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
 
 
   <link name="lower_leg_right">
-  <visual>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-    <material name="lower_leg_right-material">
-      <color rgba="0.0021 0.0497 0.4851 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
-  </inertial>
-</link>
-
-
-  <joint name="lower_leg_right_to_foot_right" type="revolute">
-  <parent link="lower_leg_right"/>
-  <child link="foot_right"/>
-  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
-  <axis xyz="-1 0 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-<link name="foot_right">
-  <visual>
-    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.08 0.02"/>
-    </geometry>
-    <material name="foot_right-material">
-      <color rgba="0.0021 0.0497 0.4851 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.08 0.02"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
-  </inertial>
-</link>
-
-
-
-  
-  <!-- Left Upper Leg -->
-<joint name="base_link_to_upper_leg_left" type="revolute">
-  <parent link="base_link"/>
-  <child link="upper_leg_left"/>
-  <origin xyz="-0.035 0 -0.035" rpy="0 0 0"/>
-  <axis xyz="1 0 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-<link name="upper_leg_left">
-  <visual>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-    <material name="upper_leg_left-material">
-      <color rgba="0.0021 0.0497 0.4851 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
-  </inertial>
-</link>
-
-
-<!-- Left Lower Leg -->
-<joint name="upper_leg_left_to_lower_leg_left" type="revolute">
-  <parent link="upper_leg_left"/>
-  <child link="lower_leg_left"/>
-  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-<link name="lower_leg_left">
-  <visual>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-    <material name="lower_leg_left-material">
-      <color rgba="0.0021 0.0497 0.4851 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.04 0.07"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0 -0.035" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
-  </inertial>
-</link>
-
-
-<!-- Left Foot -->
-<joint name="lower_leg_left_to_foot_left" type="revolute">
-  <parent link="lower_leg_left"/>
-  <child link="foot_left"/>
-  <origin xyz="0 0 -0.075" rpy="0 0 0"/>
-  <axis xyz="-1 0 0"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-<link name="foot_left">
-  <visual>
-    <origin xyz="0 0.02 -0.01" rpy="0.5 0 0"/>
-    <geometry>
-      <box size="0.04 0.08 0.02"/>
-    </geometry>
-    <material name="foot_left-material">
-      <color rgba="0.0021 0.0497 0.4851 1"/>
-    </material>
-  </visual>
-  <collision>
-    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
-    <geometry>
-      <box size="0.04 0.08 0.02"/>
-    </geometry>
-  </collision>
-  <inertial>
-    <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
-    <mass value="1"/>
-    <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
-  </inertial>
-</link>
-
-
-<joint name="spine_1_to_neck" type="revolute">
-  <parent link="spine_1"/>
-  <child link="neck"/>
-  <origin xyz="0 0 0.12" rpy="0 0 0"/>
-  <axis xyz="0 0 1"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
-
-  <link name="neck">
     <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <box size="0.03 0.03 0.03" />
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Right.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
-      <material name="neck-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
+      <material name="lower_leg_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.03 0.03 0.03" />
+        <box size="0.04 0.04 0.07" />
       </geometry>
     </collision>
     <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0" />
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
     </inertial>
   </link>
 
- <joint name="neck_to_head" type="revolute">
-  <parent link="neck"/>
-  <child link="head"/>
-  <origin xyz="0 0 0.04" rpy="0 0 0"/>
-  <axis xyz="0 0 1"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
 
+  <joint name="lower_leg_right_to_foot_right" type="revolute">
+    <parent link="lower_leg_right" />
+    <child link="foot_right" />
+    <origin xyz="0 0 -0.075" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+
+  <link name="foot_right">
+    <visual>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.08 0.02" />
+      </geometry>
+      <material name="foot_right-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.08 0.02" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
+    </inertial>
+  </link>
+
+
+  <!-- Left Upper Leg -->
+  <joint name="base_link_to_upper_leg_left" type="revolute">
+    <parent link="base_link" />
+    <child link="upper_leg_left" />
+    <origin xyz="-0.035 0 -0.035" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+
+  <link name="upper_leg_left">
+    <visual>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 0.07" />
+      </geometry>
+      <material name="upper_leg_left-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 0.07" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
+    </inertial>
+  </link>
+
+
+  <!-- Left Lower Leg -->
+  <joint name="upper_leg_left_to_lower_leg_left" type="revolute">
+    <parent link="upper_leg_left" />
+    <child link="lower_leg_left" />
+    <origin xyz="0 0 -0.075" rpy="0 0 0" />
+    <axis xyz="-0.9997 -0.0114 0.0229" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+
+  <link name="lower_leg_left">
+    <visual>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 0.07" />
+      </geometry>
+      <material name="lower_leg_left-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.04 0.07" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
+    </inertial>
+  </link>
+
+
+  <!-- Left Foot -->
+  <joint name="lower_leg_left_to_foot_left" type="revolute">
+    <parent link="lower_leg_left" />
+    <child link="foot_left" />
+    <origin xyz="0 0 -0.075" rpy="0 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+
+  <link name="foot_left">
+    <visual>
+      <origin xyz="0 0.02 -0.01" rpy="0.5 0 0" />
+      <geometry>
+        <box size="0.04 0.08 0.02" />
+      </geometry>
+      <material name="foot_left-material">
+        <color rgba="0.0021 0.0497 0.4851 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
+      <geometry>
+        <box size="0.04 0.08 0.02" />
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667" />
+    </inertial>
+  </link>
+
+
+  <!-- Spine to yaw joint -->
+  <joint name="base_link_to_neck_yaw" type="revolute">
+    <parent link="base_link" />
+    <child link="neck_yaw_link" />
+    <origin xyz="0 0 0.065" rpy="0 0 0" />
+    <axis xyz="0 0 1" /> <!-- yaw/pan around Z -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+  <link name="neck_yaw_link" />
+
+  <!-- Pitch joint -->
+  <joint name="neck_pitch" type="revolute">
+    <parent link="neck_yaw_link" />
+    <child link="neck_pitch_link" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="1 0 0" /> <!-- pitch around X -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+  <link name="neck_pitch_link" />
+
+  <!-- Roll joint -->
+  <joint name="neck_roll" type="revolute">
+    <parent link="neck_pitch_link" />
+    <child link="head" />
+    <origin xyz="0 0 0" rpy="0 0 0" />
+    <axis xyz="0 1 0" /> <!-- roll around Y -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+  </joint>
+
+  <!-- Head (includes fused neck geometry) -->
   <link name="head">
     <visual>
       <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
-       <geometry>
-      <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Face.glb" scale="0.001 0.001 0.001"/>
-    </geometry>
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Face.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
       <material name="head-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
+        <color rgba="0.002 0.05 0.48 1" />
       </material>
     </visual>
     <collision>
@@ -501,232 +376,237 @@
     <inertial>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
+      <inertia ixx="0.16" ixy="0" ixz="0" iyy="0.16" iyz="0" izz="0.16" />
     </inertial>
   </link>
 
 
-  <transmission name="spine_1_trans">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="base_link_to_spine_1">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
-
   <transmission name="upper_arm_left">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_upper_arm_left">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_joint">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="spine_motor_1">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+  <transmission name="upper_arm_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_upper_arm_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="spine_motor_1">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
- <transmission name="lower_arm_left">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="upper_arm_left_to_lower_arm_left">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="lower_arm_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="upper_arm_left_to_lower_arm_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="spine_motor_1">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
- <transmission name="hand_left">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="lower_arm_left_to_hand_left">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="hand_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="lower_arm_left_to_hand_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="spine_motor_1">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="upper_arm_right">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_upper_arm_right">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="upper_arm_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_upper_arm_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="spine_motor_1">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="lower_arm_right">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="upper_arm_right_to_lower_arm_right">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  
+  <transmission name="hip_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_hip_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="hip_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="hand_right">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="lower_arm_right_to_hand_right">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="spine_motor_1">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="upper_leg_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_upper_leg_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="upper_leg_motor_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="upper_leg_right">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="base_link_to_upper_leg_right">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="upper_leg_motor_right">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="lower_leg_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="upper_leg_right_to_lower_leg_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="lower_leg_motor_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="lower_leg_right">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="upper_leg_right_to_lower_leg_right">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="lower_leg_motor_right">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="foot_right">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="lower_leg_right_to_foot_right">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="foot_motor_right">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="foot_right">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="lower_leg_right_to_foot_right">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="foot_motor_right">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="upper_leg_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_upper_leg_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="upper_leg_motor_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="upper_leg_left">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="base_link_to_upper_leg_left">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="upper_leg_motor_left">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="lower_leg_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="upper_leg_left_to_lower_leg_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="lower_leg_motor_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="lower_leg_left">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="upper_leg_left_to_lower_leg_left">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="lower_leg_motor_left">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
+  <transmission name="foot_left">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="lower_leg_left_to_foot_left">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="foot_motor_left">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+  <!-- Yaw (pan) transmission -->
+  <transmission name="neck_yaw_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="base_link_to_neck_yaw">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="neck_motor_yaw">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>200</encoderValidMin>
+      <encoderValidMax>3500</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <!-- Pitch transmission -->
+  <transmission name="neck_pitch_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="neck_pitch">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="neck_motor_pitch">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>500</encoderValidMin>
+      <encoderValidMax>4095</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
+
+  <!-- Roll transmission -->
+  <transmission name="neck_roll_trans">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="neck_roll">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="neck_motor_roll">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4096</encoderTicks>
+      <encoderValidMin>500</encoderValidMin>
+      <encoderValidMax>4095</encoderValidMax>
+      <encoderRange>270</encoderRange>
+    </actuator>
+  </transmission>
 
-<transmission name="foot_left">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="lower_leg_left_to_foot_left">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="foot_motor_left">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
-<transmission name="neck_base">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_neck">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="neck_motor_base">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>200</encoderValidMin>
-    <encoderValidMax>3500</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
-<transmission name="neck_tip">
-  <type>transmission_interface/SimpleTransmission</type>
-  <joint name="neck_to_head">
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-  </joint>
-  <actuator name="neck_motor_tip">
-    <mechanicalReduction>1</mechanicalReduction>
-    <hardwareInterface>PositionJointInterface</hardwareInterface>
-    <encoderTicks>4096</encoderTicks>
-    <encoderValidMin>500</encoderValidMin>
-    <encoderValidMax>4095</encoderValidMax>
-    <encoderRange>270</encoderRange>
-  </actuator>
-</transmission>
 
 </robot>
\ No newline at end of file
diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index eeda94d..727e565 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -28,42 +28,15 @@
       <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
     </inertial>
   </link>
-  <joint name="base_link_to_spine_1" type="revolute">
+  <joint name="base_link_to_base_link" type="revolute">
   <parent link="base_link"/>
-  <child link="spine_1"/>
+  <child link="base_link"/>
   <origin xyz="0 0 0.0337" rpy="0 0 0"/>
   <axis xyz="-0.9997 -0.0114 0.0229"/>
   <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
 </joint>
-  <link name="spine_1">
-    <visual>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.05 0.1" />
-      </geometry>
-      <material name="spine_1-material">
-        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <geometry>
-        <box size="0.1 0.05 0.1" />
-      </geometry>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.05" rpy="0 0 0" />
-      <mass value="1" />
-      <inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
-    </inertial>
-  </link>
-  <joint name="spine_1_to_upper_arm_right" type="revolute">
-  <parent link="spine_1"/>
-  <child link="upper_arm_right"/>
-  <origin xyz="0.0624 0 0.0973" rpy="-3.1416 -0.6587 0"/>
-  <axis xyz="-0.9997 -0.0114 0.0229"/>
-  <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-</joint>
+ 
+ 
   <link name="upper_arm_right">
     <visual>
       <origin xyz="0 0 0.03" rpy="0 0 0" />
@@ -146,8 +119,8 @@
   </link>
   
   <!-- Left Upper Arm -->
-<joint name="spine_1_to_upper_arm_left" type="revolute">
-  <parent link="spine_1"/>
+<joint name="base_link_to_upper_arm_left" type="revolute">
+  <parent link="base_link"/>
   <child link="upper_arm_left"/>
   <origin xyz="-0.0624 0 0.0973" rpy="3.1416 0.6587 0"/>
   <axis xyz="-1 0 0"/>
@@ -443,8 +416,8 @@
 </link>
 
 
-<joint name="spine_1_to_neck" type="revolute">
-  <parent link="spine_1"/>
+<joint name="base_link_to_neck" type="revolute">
+  <parent link="base_link"/>
   <child link="neck"/>
   <origin xyz="0 0 0.12" rpy="0 0 0"/>
   <axis xyz="0 0 1"/>
@@ -506,9 +479,9 @@
   </link>
 
 
-  <transmission name="spine_1_trans">
+  <transmission name="base_link_trans">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="base_link_to_spine_1">
+  <joint name="base_link_to_base_link">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="spine_motor_1">
@@ -523,7 +496,7 @@
 
   <transmission name="upper_arm_left">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_upper_arm_left">
+  <joint name="base_link_to_upper_arm_left">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="spine_motor_1">
@@ -568,7 +541,7 @@
 
 <transmission name="upper_arm_right">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_upper_arm_right">
+  <joint name="base_link_to_upper_arm_right">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="spine_motor_1">
@@ -702,7 +675,7 @@
 </transmission>
 <transmission name="neck_base">
   <type>transmission_interface/SimpleTransmission</type>
-  <joint name="spine_1_to_neck">
+  <joint name="base_link_to_neck">
     <hardwareInterface>PositionJointInterface</hardwareInterface>
   </joint>
   <actuator name="neck_motor_base">