Do the HDA assets from the Toolkit and in Houdini Engine work with URP in Unity?
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The tools and the Houdini Engine should work with all render pipelines. The project included in the files is build with the default 3D template of Unity. So the plugin you can get here https://assetstore.unity.com/packages/tools/utilities/houdini-engine-for-unity-163415 or in the Houdini files on your computer. The tools (HDA's) you might need to drag and drop them in your current project.