diff --git a/CMakeLists.txt b/CMakeLists.txt
index d8e9343f..fbe441df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -271,6 +271,18 @@ endif()
 
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake ${CMAKE_MODULE_PATH})
 
+
+pkg_check_modules(libpcrecpp libpcrecpp)
+if( libpcrecpp_FOUND )
+  set(CMAKE_REQUIRED_INCLUDES ${libpcrecpp_INCLUDE_DIRS} ${REQUIRED_INCLUDES})
+  check_include_file_cxx(pcrecpp.h HAVE_PCRECPP_H)
+  set(CMAKE_REQUIRED_INCLUDES)
+  if( NOT HAVE_PCRECPP_H )
+    set(libpcrecpp_FOUND 0)
+  endif()
+  link_libraries(pcrecpp)
+endif()
+
 find_package(ZeroMQ QUIET)
 if( ZeroMQ_FOUND )
   include_directories(${ZeroMQ_INCLUDE_DIR})
diff --git a/include/mujincontrollerclient/mujincontrollerclient.h b/include/mujincontrollerclient/mujincontrollerclient.h
index 2cf4a7e9..45ce1b57 100644
--- a/include/mujincontrollerclient/mujincontrollerclient.h
+++ b/include/mujincontrollerclient/mujincontrollerclient.h
@@ -519,6 +519,9 @@ class MUJINCLIENT_API ControllerClient
     /// \param vdata filled with the contents of the file on the controller filesystem
     virtual void DownloadFileFromControllerIfModifiedSince_UTF16(const std::wstring& desturi, long localtimeval, long &remotetimeval, std::vector<unsigned char>& vdata, double timeout = 5.0) = 0;
 
+
+    virtual std::string GetUnicodeFromPrimaryKey(const std::string& pk) const = 0;
+
     /// \brief Deletes a file on the controller network filesystem.
     ///
     /// \param uri UTF-8 encoded file in the network filesystem to delete.
@@ -602,6 +605,11 @@ class MUJINCLIENT_API ControllerClient
     ///
     virtual std::string SetObjectGeometryMesh(const std::string& objectPk, const std::string& geometryPk, const std::vector<unsigned char>& data, const std::string& unit = "mm", double timeout = 5) = 0;
 
+protected:
+    virtual std::string _Quote(const std::string& value) const = 0;
+    virtual std::string _Unquote(const std::string& value) const = 0;
+    virtual bool _ParseURI(const std::string& uri, std::string& scheme, std::string& authority, std::string& path, std::string& query, std::string& fragment) const = 0;
+    virtual std::string _AssembleURI(const std::string& scheme, const std::string& authority, const std::string& path, const std::string& query, const std::string& fragment) = 0;
 };
 
 class MUJINCLIENT_API WebResource
diff --git a/src/controllerclientimpl.cpp b/src/controllerclientimpl.cpp
index 3cb87a6b..c5202d38 100644
--- a/src/controllerclientimpl.cpp
+++ b/src/controllerclientimpl.cpp
@@ -1363,6 +1363,90 @@ void ControllerClientImpl::_DownloadFileFromController(const std::string& destur
     }
 }
 
+
+std::string ControllerClientImpl::_Quote(const std::string& value) const {
+    if(_curl){
+        char* output = curl_easy_escape(_curl, value.c_str(), value.length());
+        if(output){
+            return std::string(output);
+        }
+    }
+    return "";
+}
+
+std::string ControllerClientImpl::_Unquote(const std::string& value) const{
+    if(_curl){
+        int* outlength = NULL;
+        char* result = NULL; 
+        result = curl_easy_unescape(_curl, value.c_str(), value.length(), outlength);
+        if(result){
+            return string(result);
+        }
+    }
+    return "";
+}
+
+bool ControllerClientImpl::_ParseURI(const std::string& uri, std::string& scheme, std::string& authority, std::string& path, std::string& query, std::string& fragment) const{
+    static pcrecpp::RE re("^(([^:/?#]+):)?(//([^/?#]*))?([^?#]*)(\\?([^#]*))?(#(.*))?");
+    std::string s1, s3, s6, s8; 
+    if (re.FullMatch(uri, &s1, &scheme, &s3, &authority, &path, &s6, &query, &s8, &fragment))
+    {   
+        if(scheme == "mujin"){
+            // need to do special check since may container fragment in path;
+            if(!boost::ends_with(path, "mujin.dae")){
+                // try only to get last fragment part;
+                size_t fragmentIndex = fragment.rfind('#');
+                path += "#" + fragment.substr(0, fragmentIndex);
+                fragment = fragment.substr(fragmentIndex+1);
+            }
+        }
+        path  = _Unquote(path);
+        return true;
+    }
+    return false;
+}
+
+std::string ControllerClientImpl::_AssembleURI(const std::string& scheme, const std::string& authority, const std::string& path, const std::string& query, const std::string& fragment){
+    std::string uri = "";
+
+    uri = scheme + ":";
+    if(!authority.empty()){
+        uri = uri + "//" + authority;
+    }
+    if(scheme == "mujin"){
+        if(!path.empty()){
+            if(path[0] != '/'){
+                uri = uri + '/' + path;
+            }
+            else{
+                uri = uri + path;
+            }
+        }
+    }
+    else{
+        if(!path.empty()){
+            if(path[0] != '/'){
+                uri += '/' + _Quote(path);
+            }
+            else{
+                uri += _Quote(path);
+            }
+        }
+    }
+
+    if(!query.empty()){
+        uri += "?" + query;
+    }
+    if(!fragment.empty()){
+        uri += '#' + fragment;
+    }
+    return uri;
+}
+
+std::string ControllerClientImpl::GetUnicodeFromPrimaryKey(const std::string& pk) const{
+    return _Unquote(pk);
+}
+
 void ControllerClientImpl::DeleteFileOnController_UTF8(const std::string& desturi)
 {
     boost::mutex::scoped_lock lock(_mutex);
diff --git a/src/controllerclientimpl.h b/src/controllerclientimpl.h
index 4fef3aee..3c82378d 100644
--- a/src/controllerclientimpl.h
+++ b/src/controllerclientimpl.h
@@ -20,7 +20,7 @@
 #include <mujincontrollerclient/mujincontrollerclient.h>
 
 #include <boost/enable_shared_from_this.hpp>
-
+#include <pcrecpp.h>
 namespace mujinclient {
 
 class ControllerClientImpl : public ControllerClient, public boost::enable_shared_from_this<ControllerClientImpl>
@@ -151,7 +151,7 @@ class ControllerClientImpl : public ControllerClient, public boost::enable_share
     {
         return _baseuri;
     }
-
+    std::string GetUnicodeFromPrimaryKey(const std::string& pk) const;
 protected:
 
     int _CallPut(const std::string& relativeuri, const void* pdata, size_t nDataSize, rapidjson::Document& pt, curl_slist* headers, int expectedhttpcode=202, double timeout = 5.0);
@@ -190,6 +190,13 @@ class ControllerClientImpl : public ControllerClient, public boost::enable_share
     int _CallGet(const std::string& desturi, rapidjson::Document& pt, int expectedhttpcode=200, double timeout = 5.0);
     int _CallGet(const std::string& desturi, std::string& outputdata, int expectedhttpcode=200, double timeout = 5.0);
     int _CallGet(const std::string& desturi, std::vector<unsigned char>& outputdata, int expectedhttpcode=200, double timeout = 5.0);
+    
+
+    std::string _Quote(const std::string& value) const;
+    std::string _Unquote(const std::string& value) const;
+    bool _ParseURI(const std::string& uri, std::string& scheme, std::string& authority, std::string& path, std::string& query, std::string& fragment) const;
+    std::string _AssembleURI(const std::string& scheme, const std::string& authority, const std::string& path, const std::string& query, const std::string& fragment);
+
 
     /// \brief desturi is URL-encoded. Also assume _mutex is locked.
     virtual void _UploadFileToController_UTF8(const std::string& filename, const std::string& desturi);
@@ -226,7 +233,7 @@ class ControllerClientImpl : public ControllerClient, public boost::enable_share
 
     /// \param stream is std::pair<std::vector<unsigned char>::const_iterator, size_t>*, which gets incremented everytime this function is called.
     static size_t _ReadInMemoryUploadCallback(void *ptr, size_t size, size_t nmemb, void *stream);
-
+    
     int _lastmode;
     CURL *_curl;
     boost::mutex _mutex;