diff --git a/public/robots/LittleSophia/meshes/Little_Sophia_Eye_Left.glb b/public/robots/LittleSophia/meshes/Little_Sophia_Eye_Left.glb
new file mode 100644
index 0000000..374c6aa
Binary files /dev/null and b/public/robots/LittleSophia/meshes/Little_Sophia_Eye_Left.glb differ
diff --git a/public/robots/LittleSophia/meshes/Little_Sophia_Eye_Right.glb b/public/robots/LittleSophia/meshes/Little_Sophia_Eye_Right.glb
new file mode 100644
index 0000000..f165bfc
Binary files /dev/null and b/public/robots/LittleSophia/meshes/Little_Sophia_Eye_Right.glb differ
diff --git a/public/robots/LittleSophia/meshes/Little_Sophia_Eyelid_Lower.glb b/public/robots/LittleSophia/meshes/Little_Sophia_Eyelid_Lower.glb
new file mode 100644
index 0000000..6a2f48e
Binary files /dev/null and b/public/robots/LittleSophia/meshes/Little_Sophia_Eyelid_Lower.glb differ
diff --git a/public/robots/LittleSophia/meshes/Little_Sophia_Eyelid_Upper.glb b/public/robots/LittleSophia/meshes/Little_Sophia_Eyelid_Upper.glb
new file mode 100644
index 0000000..ef8c92e
Binary files /dev/null and b/public/robots/LittleSophia/meshes/Little_Sophia_Eyelid_Upper.glb differ
diff --git a/public/robots/LittleSophia/meshes/Little_Sophia_Teeth_Lower.glb b/public/robots/LittleSophia/meshes/Little_Sophia_Teeth_Lower.glb
new file mode 100644
index 0000000..a47e811
Binary files /dev/null and b/public/robots/LittleSophia/meshes/Little_Sophia_Teeth_Lower.glb differ
diff --git a/public/robots/LittleSophia/meshes/Little_Sophia_Teeth_Upper.glb b/public/robots/LittleSophia/meshes/Little_Sophia_Teeth_Upper.glb
new file mode 100644
index 0000000..87938b1
Binary files /dev/null and b/public/robots/LittleSophia/meshes/Little_Sophia_Teeth_Upper.glb differ
diff --git a/public/robots/LittleSophia/urdf/LittleSophia.urdf b/public/robots/LittleSophia/urdf/LittleSophia.urdf
index 72e3be4..a96204f 100644
--- a/public/robots/LittleSophia/urdf/LittleSophia.urdf
+++ b/public/robots/LittleSophia/urdf/LittleSophia.urdf
@@ -1,5 +1,5 @@
 <robot name="robot">
-  <link name="base_footprint"/>
+  <link name="base_footprint" />
   <!-- <joint name="base_joint" type="fixed">
     <parent link="base_footprint" />
     <child link="base_link" />
@@ -8,420 +8,551 @@
   </joint> -->
   <link name="base_link">
     <visual>
-      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Torso_.glb" scale="0.001 0.001 0.001"/>
+        <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"/>
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.1 0.05 0.05"/>
+        <box size="0.1 0.05 0.05" />
       </geometry>
     </collision>
     <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"/>
+      <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" />
     </inertial>
   </link>
   <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="1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="base_link" />
+    <child link="upper_arm_right" />
+    <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_right">
     <visual>
-      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Arm_Right.glb" scale="0.001 0.001 0.001"/>
+        <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"/>
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.03" rpy="0 0 0"/>
+      <origin xyz="0 0 0.03" rpy="0 0 0" />
       <geometry>
-        <box size="0.03 0.03 0.06"/>
+        <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"/>
+      <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 Upper Arm -->
   <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"/>
+    <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"/>
+      <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"/>
+        <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"/>
+        <color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0.03" rpy="0 0 0"/>
+      <origin xyz="0 0 0.03" rpy="0 0 0" />
       <geometry>
-        <box size="0.03 0.03 0.06"/>
+        <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"/>
+      <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"/>
+    <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"/>
+      <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"/>
+        <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"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.04 0.07"/>
+        <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"/>
+      <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="0.009 0.0 -0.023" rpy="-0.5 0 0"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="hip_right" />
+    <child link="upper_leg_right" />
+    <origin xyz="0.009 0.0 -0.023" rpy="-0.5 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" rpy="-1.5745 3.149 0"/>
+      <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"/>
+        <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"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.04 0.07"/>
+        <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"/>
+      <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>
 
 
   <!-- Upper leg to lower leg roll link (pivot at upper gear center) -->
   <joint name="upper_leg_right_to_lower_leg_right_roll" type="revolute">
-    <parent link="upper_leg_right"/>
-    <child link="lower_leg_right_roll_link"/>
-    <origin xyz="0.0 0.007 -0.028" rpy="0 0 0"/> <!-- upper gear center -->
-    <axis xyz="-1 0 0"/> <!-- rolling axis -->
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="upper_leg_right" />
+    <child link="lower_leg_right_roll_link" />
+    <origin xyz="0.0 0.007 -0.028" rpy="0 0 0" /> <!-- upper gear center -->
+    <axis xyz="-1 0 0" /> <!-- rolling axis -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
   </joint>
 
-  <link name="lower_leg_right_roll_link"/>
+  <link name="lower_leg_right_roll_link" />
 
   <!-- Lower leg roll link to actual lower leg (pivot at lower gear center) -->
   <joint name="lower_leg_roll_to_lower_leg_right" type="revolute">
-    <parent link="lower_leg_right_roll_link"/>
-    <child link="lower_leg_right"/>
-    <origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-    <mimic joint="upper_leg_right_to_lower_leg_right_roll" multiplier="1.1" offset="0"/>
+    <parent link="lower_leg_right_roll_link" />
+    <child link="lower_leg_right" />
+    <origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0" />
+    <axis xyz="-1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+    <mimic joint="upper_leg_right_to_lower_leg_right_roll" multiplier="1.1" offset="0" />
   </joint>
 
 
   <link name="lower_leg_right">
     <visual>
-      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Right.glb" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Right.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="lower_leg_right-material">
-        <color rgba="0.0021 0.0497 0.4851 1"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.04 0.07"/>
+        <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"/>
+      <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 -0.043" rpy="0 0 0"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="lower_leg_right" />
+    <child link="foot_right" />
+    <origin xyz="0 0 -0.043" 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 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Right.glb" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Right.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="foot_right-material">
-        <color rgba="0.0021 0.0497 0.4851 1"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.08 0.02"/>
+        <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"/>
+      <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_hip_left" type="revolute">
-    <parent link="base_link"/>
-    <child link="hip_left"/>
-    <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"/>
+    <parent link="base_link" />
+    <child link="hip_left" />
+    <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_left">
     <visual>
-      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Left.glb" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Hip_Left.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="upper_leg_left-material">
-        <color rgba="0.0021 0.0497 0.4851 1"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.04 0.07"/>
+        <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"/>
+      <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_left_to_upper_leg_left" type="revolute">
-    <parent link="hip_left"/>
-    <child link="upper_leg_left"/>
-    <origin xyz="-0.009 0.0 -0.023" rpy="-0.6 0 0"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="hip_left" />
+    <child link="upper_leg_left" />
+    <origin xyz="-0.009 0.0 -0.023" rpy="-0.6 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" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Left.glb" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Upper_Leg_Left.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="upper_leg_left-material">
-        <color rgba="0.0021 0.0497 0.4851 1"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.04 0.07"/>
+        <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"/>
+      <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>
 
   <!-- Upper leg to lower leg roll link (pivot at upper gear center) -->
   <joint name="upper_leg_left_to_lower_leg_left_roll" type="revolute">
-    <parent link="upper_leg_left"/>
-    <child link="lower_leg_left_roll_link"/>
-    <origin xyz="0.0 0.007 -0.028" rpy="0 0 0"/> <!-- upper gear center -->
-    <axis xyz="1 0 0"/> <!-- rolling axis -->
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="upper_leg_left" />
+    <child link="lower_leg_left_roll_link" />
+    <origin xyz="0.0 0.007 -0.028" rpy="0 0 0" /> <!-- upper gear center -->
+    <axis xyz="1 0 0" /> <!-- rolling axis -->
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
   </joint>
 
-  <link name="lower_leg_left_roll_link"/>
+  <link name="lower_leg_left_roll_link" />
 
   <!-- Lower leg roll link to actual lower leg (pivot at lower gear center) -->
   <joint name="lower_leg_roll_to_lower_leg_left" type="revolute">
-    <parent link="lower_leg_left_roll_link"/>
-    <child link="lower_leg_left"/>
-    <origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
-    <mimic joint="upper_leg_left_to_lower_leg_left_roll" multiplier="1.1" offset="0"/>
+    <parent link="lower_leg_left_roll_link" />
+    <child link="lower_leg_left" />
+    <origin xyz="-0.001 -0.0025 -0.029" rpy="-0.35 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5" />
+    <mimic joint="upper_leg_left_to_lower_leg_left_roll" multiplier="1.1" offset="0" />
   </joint>
 
 
   <link name="lower_leg_left">
     <visual>
-      <origin xyz="0 0 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Left.glb" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Lower_Leg_Left.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="lower_leg_right-material">
-        <color rgba="0.0021 0.0497 0.4851 1"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 -0.035" rpy="0 0 0"/>
+      <origin xyz="0 0 -0.035" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.04 0.07"/>
+        <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"/>
+      <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_left_to_foot_left" type="revolute">
-    <parent link="lower_leg_left"/>
-    <child link="foot_left"/>
-    <origin xyz="0 0 -0.043" rpy="0 0 0"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
+    <parent link="lower_leg_left" />
+    <child link="foot_left" />
+    <origin xyz="0 0 -0.043" 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 0" rpy="-1.5745 3.149 0"/>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
       <geometry>
-        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Left.glb" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Foot_Left.glb"
+          scale="0.001 0.001 0.001" />
       </geometry>
       <material name="foot_left-material">
-        <color rgba="0.0021 0.0497 0.4851 1"/>
+        <color rgba="0.0021 0.0497 0.4851 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
+      <origin xyz="0 0.02 -0.01" rpy="0 0 0" />
       <geometry>
-        <box size="0.04 0.08 0.02"/>
+        <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"/>
+      <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"/>
+    <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"/>
+  <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"/>
+    <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"/>
+  <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"/>
+    <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"/>
+      <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"/>
+        <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="0.002 0.05 0.48 1"/>
+        <color rgba="0.002 0.05 0.48 1" />
       </material>
     </visual>
     <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <box size="0.06 0.06 0.06"/>
+        <box size="0.06 0.06 0.06" />
       </geometry>
     </collision>
     <inertial>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <mass value="1"/>
-      <inertia ixx="0.16" ixy="0" ixz="0" iyy="0.16" iyz="0" izz="0.16"/>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <mass value="1" />
+      <inertia ixx="0.16" ixy="0" ixz="0" iyy="0.16" iyz="0" izz="0.16" />
+    </inertial>
+  </link>
+
+  <!-- Left eye joint -->
+  <joint name="eye_left_yaw" type="revolute">
+    <parent link="head" />
+    <child link="eye_left" />
+    <!-- Position the eye relative to the head -->
+    <origin xyz="-0.0198 0.024 0.065" rpy="0 0 0" />
+    <!-- yaw axis: adjust depending on your coordinate system -->
+    <axis xyz="0 0 1" />
+    <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
+  </joint>
+
+  <link name="eye_left">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Eye_Left.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+
+  <!-- Right eye joint -->
+  <joint name="eye_right_yaw" type="revolute">
+    <parent link="head" />
+    <child link="eye_right" />
+    <origin xyz="0.0193 0.024 0.065" rpy="0 0 0" />
+    <axis xyz="0 0 1" />
+    <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
+  </joint>
+
+  <link name="eye_right">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Eye_Right.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+
+  <joint name="eyelid_upper_pitch" type="revolute">
+    <parent link="head" />
+    <child link="eyelid_upper" />
+    <origin xyz="-0.0005 0.024 0.056" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
+  </joint>
+
+  <link name="eyelid_upper">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Eyelid_Upper.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
+    </inertial>
+  </link>
+
+  <joint name="eyelid_lower_pitch" type="revolute">
+    <parent link="head" />
+    <child link="eyelid_lower" />
+    <origin xyz="-0.0005 0.024 0.056" rpy="0 0 0" />
+    <axis xyz="1 0 0" />
+    <limit effort="10.0" lower="-1.0" upper="1.0" velocity="1.0" />
+  </joint>
+
+  <link name="eyelid_lower">
+    <visual>
+      <origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
+      <geometry>
+        <mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Eyelid_Lower.glb"
+          scale="0.001 0.001 0.001" />
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <sphere radius="0.01" />
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.01" />
+      <inertia ixx="1e-5" iyy="1e-5" izz="1e-5" ixy="0" ixz="0" iyz="0" />
     </inertial>
   </link>
 
@@ -438,7 +569,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>23</motorID></actuator>
+      <motorID>23</motorID>
+    </actuator>
   </transmission>
   <transmission name="hand_left">
     <type>transmission_interface/SimpleTransmission</type>
@@ -467,7 +599,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>25</motorID></actuator>
+      <motorID>25</motorID>
+    </actuator>
   </transmission>
 
 
@@ -483,7 +616,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>34</motorID></actuator>
+      <motorID>34</motorID>
+    </actuator>
   </transmission>
 
   <transmission name="upper_leg_right">
@@ -498,7 +632,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>33</motorID></actuator>
+      <motorID>33</motorID>
+    </actuator>
   </transmission>
 
   <transmission name="lower_leg_right">
@@ -513,7 +648,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>32</motorID></actuator>
+      <motorID>32</motorID>
+    </actuator>
   </transmission>
 
   <transmission name="foot_right">
@@ -528,7 +664,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>30</motorID></actuator>
+      <motorID>30</motorID>
+    </actuator>
   </transmission>
 
   <transmission name="hip_left">
@@ -543,7 +680,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>39</motorID></actuator>
+      <motorID>39</motorID>
+    </actuator>
   </transmission>
 
   <transmission name="upper_leg_left">
@@ -558,7 +696,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>38</motorID></actuator>
+      <motorID>38</motorID>
+    </actuator>
   </transmission>
 
   <transmission name="lower_leg_left">
@@ -573,10 +712,11 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>37</motorID></actuator>
+      <motorID>37</motorID>
+    </actuator>
   </transmission>
 
-  
+
   <transmission name="foot_left">
     <type>transmission_interface/SimpleTransmission</type>
     <joint name="lower_leg_left_to_foot_left">
@@ -589,7 +729,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>35</motorID></actuator>
+      <motorID>35</motorID>
+    </actuator>
   </transmission>
 
   <!-- Yaw (pan) transmission -->
@@ -605,7 +746,8 @@
       <encoderValidMin>200</encoderValidMin>
       <encoderValidMax>3500</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>27</motorID></actuator>
+      <motorID>27</motorID>
+    </actuator>
   </transmission>
 
   <!-- Pitch transmission -->
@@ -621,7 +763,8 @@
       <encoderValidMin>500</encoderValidMin>
       <encoderValidMax>4095</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>41</motorID></actuator>
+      <motorID>41</motorID>
+    </actuator>
   </transmission>
 
   <!-- Roll transmission -->
@@ -637,8 +780,72 @@
       <encoderValidMin>100</encoderValidMin>
       <encoderValidMax>3900</encoderValidMax>
       <encoderRange>300</encoderRange>
-    <motorID>42</motorID></actuator>
+      <motorID>42</motorID>
+    </actuator>
   </transmission>
 
+  <transmission name="eye_left_yaw">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="eye_left_yaw">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="eye_left_yaw">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4095</encoderTicks>
+      <encoderValidMin>100</encoderValidMin>
+      <encoderValidMax>3900</encoderValidMax>
+      <encoderRange>300</encoderRange>
+      <motorID>99</motorID>
+    </actuator>
+  </transmission>
+
+  <transmission name="eye_right_yaw">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="eye_right_yaw">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="eye_right_yaw">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4095</encoderTicks>
+      <encoderValidMin>100</encoderValidMin>
+      <encoderValidMax>3900</encoderValidMax>
+      <encoderRange>300</encoderRange>
+      <motorID>98</motorID>
+    </actuator>
+  </transmission>
+
+<transmission name="eyelid_upper_pitch">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="eyelid_upper_pitch">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="eyelid_upper_pitch">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4095</encoderTicks>
+      <encoderValidMin>100</encoderValidMin>
+      <encoderValidMax>3900</encoderValidMax>
+      <encoderRange>300</encoderRange>
+      <motorID>98</motorID>
+    </actuator>
+  </transmission>
+
+  <transmission name="eyelid_lower_pitch">
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="eyelid_lower_pitch">
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="eyelid_lower_pitch">
+      <mechanicalReduction>1</mechanicalReduction>
+      <hardwareInterface>PositionJointInterface</hardwareInterface>
+      <encoderTicks>4095</encoderTicks>
+      <encoderValidMin>100</encoderValidMin>
+      <encoderValidMax>3900</encoderValidMax>
+      <encoderRange>300</encoderRange>
+      <motorID>98</motorID>
+    </actuator>
+  </transmission>
 
 </robot>
\ No newline at end of file
diff --git a/ros_robot_visualiser/URDFEditor.js b/ros_robot_visualiser/URDFEditor.js
index 6819918..1a56103 100644
--- a/ros_robot_visualiser/URDFEditor.js
+++ b/ros_robot_visualiser/URDFEditor.js
@@ -74,7 +74,7 @@ export class URDFEditor {
 
 
     this.setupScene();
-    //this.loadURDF();
+    this.loadURDF();
     //this.loadURDFFromIndexedDB();
     this.setupEvents();