Add SimReady package: fr3v2_1

fr3v2_1/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -2,7 +2,7 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-08T15:48:45",
+  "timestamp": "2026-10-10T17:43:02",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",

fr3v2_1/.metadata/com.nvidia.simready.packaging.bom.json

@@ -3,26 +3,26 @@
   "items": [
     {
       "relative_path": "simready_usd/.thumbs/256x256/fr3v2_1.usda.png",
-      "size": 14426,
+      "size": 19782,
       "hash": {
-        "sha256-flat-1mb": "42230b99363298ac1f5afc86523eadb2f16aa6efc9c7d27cef8222e485abeed6",
-        "sha256": "1642b8e6f4663fb1643bcd5ccccf39896aea478093d5518714a4c67bc215400b"
+        "sha256-flat-1mb": "d64e7d116c43717710972856ed56dfabc87700b7b7b616ee5fa9f9a61890e4d7",
+        "sha256": "47cc6f7c61a5ab0feaa26423ef78e78dcdcae377a7dfe913051856c919b1770f"
       }
     },
     {
       "relative_path": "simready_usd/fr3v2_1.usda",
-      "size": 3065,
+      "size": 3074,
       "hash": {
-        "sha256-flat-1mb": "b103f05dc4b5fb9535ef527da2f807e36d4705bfb3a5bab74d8cc87ce28b351d",
-        "sha256": "cc79dfd14d43cc08e85ea16910995891234ab51c8b8c3eb921bca26f396794b4"
+        "sha256-flat-1mb": "ae965c01c2cde71704be050d1ca852523c8f50196cc8fa8b3eae08d78a0d0254",
+        "sha256": "18441900fc688740e8e79dceb6168ff030db58c4e324ce1cd1f6837b70f00511"
       }
     },
     {
       "relative_path": "simready_usd/payloads/Physics/physics.usda",
-      "size": 21809,
+      "size": 22607,
       "hash": {
-        "sha256-flat-1mb": "26d5748f5c4fb8b01de753573cba63c04ea421069f3571faf6d8c409e7ad0a8e",
-        "sha256": "a713566f2e52d5a2af0eeaf091428a671c3f705cd7f6587d628fb42995aa3a54"
+        "sha256-flat-1mb": "8baaf424b70b58ead5129a023d439b9852f061769b5c763826fd47e546435759",
+        "sha256": "95372c8a30bbf04edd75fe976fb38da297efac3fd92bacd702a29436119f178b"
       }
     },
     {
@@ -35,10 +35,10 @@
     },
     {
       "relative_path": "simready_usd/payloads/base.usda",
-      "size": 57791,
+      "size": 57974,
       "hash": {
-        "sha256-flat-1mb": "85fc9606a5ba243fadd5fbb4c62df65442cd1ed1eb6abe5fc0dcfcd53f800d5d",
-        "sha256": "c98d0adceaa5ebe51fb63f990a6b2e089e5167bb54526b9f4b2507130bdf1138"
+        "sha256-flat-1mb": "0466a09d8ba9dc295d65c3113fe48f970909a3a63a753363414f1f35d0fcd6e5",
+        "sha256": "7f7d33ac078985e3e8c5c85b9f9cfed3d3a5a7a8f877844836727ddf084f5881"
       }
     },
     {

fr3v2_1/com.nvidia.simready.packaging.json

@@ -6,13 +6,13 @@
     {
       "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
       "hash": {
-        "sha256": "7ac8b0abbb674c0ec695589212e1bf27f947906c7049123d72d613197f256053"
+        "sha256": "63de44f568b4c44a1732763b9a31dac9272be8802bf360fc0890df98a3a4ce76"
       }
     },
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "4b6f3c26533d1f38fc597ff46a215791e3ccaec3199745ac87bf79e02ef2afca"
+        "sha256": "4424a0d5f29dbc87ec36826bf586bdb6b12ea4118a422cfe913bb7026297af8b"
       }
     },
     {
@@ -23,9 +23,9 @@
     }
   ],
   "content_hash": {
-    "sha256": "75a3be462d0c1b24f940df9bf61d6f0ed37283bb76b4d1e9568b1172ccbd9800"
+    "sha256": "6e7094cf7d1aa1931a51ff10eae3512fddbad61e15be98ec81bdc0f14b8efb0e"
   },
   "package_hash": {
-    "sha256": "e103c59ba96894c931efac76b5e2c10ac493dbdeaa158fd96f28bf0628a6f54d"
+    "sha256": "9d5e5310895f1cd6b6284165751d30d6750c6c5189b76f97b9585c148b546d96"
   }
 }

fr3v2_1/simready_usd/fr3v2_1.usda

@@ -21,7 +21,7 @@
                     }
                 }
             }
-            float3 asset_extents = (0.32335204, 0.26000002, 1.1145388)
+            float3 asset_extents = (0.6752474, 0.26000002, 0.77882093)
             string asset_license = "CC-BY-4.0"
             string author = "Franka Robotics GmbH"
             string category = "robotic_arm"
@@ -65,34 +65,43 @@ def Xform "fr3v2_1" (
 {
     variantSet "ControlMode" = {
         "effort" {
+
         }
         "position" (
             prepend payload = @./payloads/Physics/position_physics.usda@
         ) {
+
         }
     }
     variantSet "PhysX" = {
         "Disabled" {
+
         }
         "Enabled" (
             prepend payload = @./runnables/physics/physx.usda@
         ) {
+
         }
     }
     variantSet "Newton" = {
         "Disabled" {
+
         }
         "Enabled" (
             prepend payload = @./runnables/physics/newton.usda@
         ) {
+
         }
     }
     variantSet "MuJoCo" = {
         "Disabled" {
+
         }
         "Enabled" (
             prepend payload = @./runnables/physics/mujoco.usda@
         ) {
+
         }
     }
 }
+

fr3v2_1/simready_usd/payloads/Physics/physics.usda

@@ -32,6 +32,11 @@ over "fr3v2_1"
                 prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
             )
             {
+                point3f physics:centerOfMass = (-0.0172, 0.0004, 0.0745)
+                float3 physics:diagonalInertia = (0.0067344354, 0.010765565, 0.0115)
+                float physics:mass = 2.3966
+                quatf physics:principalAxes = (0.29077372, 0.29077372, 0.6445546, 0.6445546)
+
                 over "fr3v2_1_link0_collision"
                 {
                     over "fr3v2_1_link0_collision" (
@@ -42,15 +47,15 @@ over "fr3v2_1"
                     }
                 }
 
-                point3f physics:centerOfMass = (-0.0172, 0.0004, 0.0745)
-                float3 physics:diagonalInertia = (0.0067344354, 0.010765565, 0.0115)
-                float physics:mass = 2.3966
-                quatf physics:principalAxes = (0.29077372, 0.29077372, 0.6445546, 0.6445546)
-
                 over "fr3v2_1_link1" (
                     prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                 )
                 {
+                    point3f physics:centerOfMass = (-0.00458, 0.027016, -0.0618)
+                    float3 physics:diagonalInertia = (0.004638654, 0.022261089, 0.023300257)
+                    float physics:mass = 2.4377
+                    quatf physics:principalAxes = (0.70691735, -0.14119582, 0.6928866, 0.015482842)
+
                     over "fr3v2_1_link1_collision"
                     {
                         over "fr3v2_1_link1_collision" (
@@ -61,15 +66,15 @@ over "fr3v2_1"
                         }
                     }
 
-                    point3f physics:centerOfMass = (-0.00458, 0.027016, -0.0618)
-                    float3 physics:diagonalInertia = (0.004638654, 0.022261089, 0.023300257)
-                    float physics:mass = 2.4377
-                    quatf physics:principalAxes = (0.70691735, -0.14119582, 0.6928866, 0.015482842)
-
                     over "fr3v2_1_link2" (
                         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                     )
                     {
+                        point3f physics:centerOfMass = (-0.01063, -0.184739, -0.010479)
+                        float3 physics:diagonalInertia = (0.005259303, 0.017340638, 0.019200059)
+                        float physics:mass = 2.2375
+                        quatf physics:principalAxes = (-0.47845262, 0.47324845, 0.43276584, 0.59986055)
+
                         over "fr3v2_1_link2_collision"
                         {
                             over "fr3v2_1_link2_collision" (
@@ -80,15 +85,15 @@ over "fr3v2_1"
                             }
                         }
 
-                        point3f physics:centerOfMass = (-0.01063, -0.184739, -0.010479)
-                        float3 physics:diagonalInertia = (0.005259303, 0.017340638, 0.019200059)
-                        float physics:mass = 2.2375
-                        quatf physics:principalAxes = (-0.47845262, 0.47324845, 0.43276584, 0.59986055)
-
                         over "fr3v2_1_link3" (
                             prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                         )
                         {
+                            point3f physics:centerOfMass = (0.091995, 0.023003, 0.047348)
+                            float3 physics:diagonalInertia = (0.0044736224, 0.010421152, 0.014605225)
+                            float physics:mass = 2.196382
+                            quatf physics:principalAxes = (0.26195094, 0.43241614, 0.30163306, 0.8083412)
+
                             over "fr3v2_1_link3_collision"
                             {
                                 over "fr3v2_1_link3_collision" (
@@ -99,15 +104,15 @@ over "fr3v2_1"
                                 }
                             }
 
-                            point3f physics:centerOfMass = (0.091995, 0.023003, 0.047348)
-                            float3 physics:diagonalInertia = (0.0044736224, 0.010421152, 0.014605225)
-                            float physics:mass = 2.196382
-                            quatf physics:principalAxes = (0.26195094, 0.43241614, 0.30163306, 0.8083412)
-
                             over "fr3v2_1_link4" (
                                 prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                             )
                             {
+                                point3f physics:centerOfMass = (-0.084334, 0.096836, 0.006248)
+                                float3 physics:diagonalInertia = (0.0044261836, 0.009736058, 0.012638758)
+                                float physics:mass = 2.186422
+                                quatf physics:principalAxes = (0.7811035, -0.46501783, -0.24422844, -0.33762142)
+
                                 over "fr3v2_1_link4_collision"
                                 {
                                     over "fr3v2_1_link4_collision" (
@@ -118,15 +123,15 @@ over "fr3v2_1"
                                     }
                                 }
 
-                                point3f physics:centerOfMass = (-0.084334, 0.096836, 0.006248)
-                                float3 physics:diagonalInertia = (0.0044261836, 0.009736058, 0.012638758)
-                                float physics:mass = 2.186422
-                                quatf physics:principalAxes = (0.7811035, -0.46501783, -0.24422844, -0.33762142)
-
                                 over "fr3v2_1_link5" (
                                     prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                 )
                                 {
+                                    point3f physics:centerOfMass = (0.000039, 0.011821, -0.054936)
+                                    float3 physics:diagonalInertia = (0.0038800961, 0.030519126, 0.03189978)
+                                    float physics:mass = 2.190783
+                                    quatf physics:principalAxes = (0.70986634, 0.01769611, 0.69550407, -0.109775834)
+
                                     over "fr3v2_1_link5_collision"
                                     {
                                         over "fr3v2_1_link5_collision" (
@@ -137,15 +142,15 @@ over "fr3v2_1"
                                         }
                                     }
 
-                                    point3f physics:centerOfMass = (0.000039, 0.011821, -0.054936)
-                                    float3 physics:diagonalInertia = (0.0038800961, 0.030519126, 0.03189978)
-                                    float physics:mass = 2.190783
-                                    quatf physics:principalAxes = (0.70986634, 0.01769611, 0.69550407, -0.109775834)
-
                                     over "fr3v2_1_link6" (
                                         prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                     )
                                     {
+                                        point3f physics:centerOfMass = (0.069627, -0.016716, -0.037235)
+                                        float3 physics:diagonalInertia = (0.0024043, 0.0041460977, 0.004749602)
+                                        float physics:mass = 1.583583
+                                        quatf physics:principalAxes = (0.9687735, -0.007590724, 0.15597427, -0.19259371)
+
                                         over "fr3v2_1_link6_collision"
                                         {
                                             over "fr3v2_1_link6_collision" (
@@ -156,15 +161,15 @@ over "fr3v2_1"
                                             }
                                         }
 
-                                        point3f physics:centerOfMass = (0.069627, -0.016716, -0.037235)
-                                        float3 physics:diagonalInertia = (0.0024043, 0.0041460977, 0.004749602)
-                                        float physics:mass = 1.583583
-                                        quatf physics:principalAxes = (0.9687735, -0.007590724, 0.15597427, -0.19259371)
-
                                         over "fr3v2_1_link7" (
                                             prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                         )
                                         {
+                                            point3f physics:centerOfMass = (-0.014555, 0.00923, 0.065858)
+                                            float3 physics:diagonalInertia = (0.00069993816, 0.0008998439, 0.001100218)
+                                            float physics:mass = 0.698686
+                                            quatf physics:principalAxes = (0.5006586, 0.53091955, 0.49574527, 0.47085246)
+
                                             over "fr3v2_1_link7_collision"
                                             {
                                                 over "fr3v2_1_link7_collision" (
@@ -174,11 +179,6 @@ over "fr3v2_1"
                                                     token physics:approximation = "convexHull"
                                                 }
                                             }
-
-                                            point3f physics:centerOfMass = (-0.014555, 0.00923, 0.065858)
-                                            float3 physics:diagonalInertia = (0.00069993816, 0.0008998439, 0.001100218)
-                                            float physics:mass = 0.698686
-                                            quatf physics:principalAxes = (0.5006586, 0.53091955, 0.49574527, 0.47085246)
                                         }
                                     }
                                 }
@@ -198,6 +198,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 87
+            float drive:angular:physics:targetPosition = 0
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0>
@@ -209,6 +210,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = -166.20016
             float physics:upperLimit = 166.20016
+            float state:angular:physics:position = 0
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 87
@@ -231,6 +233,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 87
+            float drive:angular:physics:targetPosition = -45
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0/fr3v2_1_link1>
@@ -242,6 +245,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = -105.20021
             float physics:upperLimit = 105.20021
+            float state:angular:physics:position = -45
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 87
@@ -264,6 +268,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 87
+            float drive:angular:physics:targetPosition = 0
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0/fr3v2_1_link1/fr3v2_1_link2>
@@ -275,6 +280,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = -166.20016
             float physics:upperLimit = 166.20016
+            float state:angular:physics:position = 0
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 87
@@ -297,6 +303,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 87
+            float drive:angular:physics:targetPosition = -135
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0/fr3v2_1_link1/fr3v2_1_link2/fr3v2_1_link3>
@@ -308,6 +315,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = -176.30026
             float physics:upperLimit = -6.7000012
+            float state:angular:physics:position = -135
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 87
@@ -330,6 +338,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 12
+            float drive:angular:physics:targetPosition = 0
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0/fr3v2_1_link1/fr3v2_1_link2/fr3v2_1_link3/fr3v2_1_link4>
@@ -341,6 +350,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = -164.80005
             float physics:upperLimit = 164.80005
+            float state:angular:physics:position = 0
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 12
@@ -363,6 +373,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 12
+            float drive:angular:physics:targetPosition = 90
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0/fr3v2_1_link1/fr3v2_1_link2/fr3v2_1_link3/fr3v2_1_link4/fr3v2_1_link5>
@@ -374,6 +385,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = 25.199982
             float physics:upperLimit = 264.80008
+            float state:angular:physics:position = 90
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 12
@@ -396,6 +408,7 @@ over "fr3v2_1"
         {
             float drive:angular:physics:damping = 0.003
             float drive:angular:physics:maxForce = 12
+            float drive:angular:physics:targetPosition = 45
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </fr3v2_1/Geometry/base/fr3v2_1_link0/fr3v2_1_link1/fr3v2_1_link2/fr3v2_1_link3/fr3v2_1_link4/fr3v2_1_link5/fr3v2_1_link6>
@@ -407,6 +420,7 @@ over "fr3v2_1"
             quatf physics:localRot1 = (1, 0, 0, 0)
             float physics:lowerLimit = -174.79988
             float physics:upperLimit = 174.79988
+            float state:angular:physics:position = 45
             custom float urdf:dynamics:damping = 0.003
             custom float urdf:dynamics:friction = 0.2
             custom float urdf:limit:effort = 12

fr3v2_1/simready_usd/payloads/base.usda

@@ -32,7 +32,7 @@ def Xform "fr3v2_1" (
     kind = "component"
 )
 {
-    float3[] extentsHint = [(-0.1540721, -0.13000001, -2.1997502e-9), (0.16927992, 0.13000001, 1.1145388), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.1541135, -0.1302706, -0.000013660666), (0.16944757, 0.12951264, 1.1143355)]
+    float3[] extentsHint = [(-0.30119324, -0.13000001, -2.1997502e-9), (0.37405413, 0.13000001, 0.7788209), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.3011945, -0.1302706, -0.000013660666), (0.3954396, 0.12951264, 0.77861756)]
 
     def Scope "Materials"
     {
@@ -184,7 +184,7 @@ def Xform "fr3v2_1" (
                 {
                     quatf xformOp:orient = (1, 0, 0, 0)
                     float3 xformOp:scale = (1, 1, 1)
-                    double3 xformOp:translate = (0, 0, 0.333)
+                    double3 xformOp:translate = (0, 0, 0.3330000042915344)
                     uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
                     def Xform "fr3v2_1_link1_visual"
@@ -242,7 +242,7 @@ def Xform "fr3v2_1" (
 
                     def Xform "fr3v2_1_link2"
                     {
-                        quatf xformOp:orient = (-0.70710677, 0.70710677, 0, 0)
+                        quatf xformOp:orient = (0.6532815, -0.65328145, -0.27059802, -0.27059805)
                         float3 xformOp:scale = (1, 1, 1)
                         double3 xformOp:translate = (0, 0, 0)
                         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
@@ -304,7 +304,7 @@ def Xform "fr3v2_1" (
                         {
                             quatf xformOp:orient = (0.70710677, 0.70710677, 0, 0)
                             float3 xformOp:scale = (1, 1, 1)
-                            double3 xformOp:translate = (0, -0.316, 0)
+                            double3 xformOp:translate = (0, -0.3160000145435333, 1.6543612251060553e-24)
                             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
                             def Xform "fr3v2_1_link3_visual"
@@ -362,9 +362,9 @@ def Xform "fr3v2_1" (
 
                             def Xform "fr3v2_1_link4"
                             {
-                                quatf xformOp:orient = (0.70710677, 0.70710677, 0, 0)
+                                quatf xformOp:orient = (-0.27059805, -0.27059802, -0.65328145, 0.6532815)
                                 float3 xformOp:scale = (1, 1, 1)
-                                double3 xformOp:translate = (0.0825, 0, 0)
+                                double3 xformOp:translate = (0.08250000327825546, 0, 0)
                                 uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
                                 def Xform "fr3v2_1_link4_visual"
@@ -422,9 +422,9 @@ def Xform "fr3v2_1" (
 
                                 def Xform "fr3v2_1_link5"
                                 {
-                                    quatf xformOp:orient = (-0.70710677, 0.70710677, 0, 0)
+                                    quatf xformOp:orient = (0.70710677, -0.70710677, 0, 0)
                                     float3 xformOp:scale = (1, 1, 1)
-                                    double3 xformOp:translate = (-0.0825, 0.384, 0)
+                                    double3 xformOp:translate = (-0.08250000327825546, 0.3840000033378601, 6.617444900424222e-24)
                                     uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
                                     def Xform "fr3v2_1_link5_visual"
@@ -493,7 +493,7 @@ def Xform "fr3v2_1" (
 
                                     def Xform "fr3v2_1_link6"
                                     {
-                                        quatf xformOp:orient = (0.70710677, 0.70710677, 0, 0)
+                                        quatf xformOp:orient = (0.5, 0.49999997, -0.49999997, 0.5)
                                         float3 xformOp:scale = (1, 1, 1)
                                         double3 xformOp:translate = (0, 0, 0)
                                         uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
@@ -630,9 +630,9 @@ def Xform "fr3v2_1" (
 
                                         def Xform "fr3v2_1_link7"
                                         {
-                                            quatf xformOp:orient = (0.70710677, 0.70710677, 0, 0)
+                                            quatf xformOp:orient = (0.6532815, 0.65328145, -0.27059802, 0.27059805)
                                             float3 xformOp:scale = (1, 1, 1)
-                                            double3 xformOp:translate = (0.088, 0, 0)
+                                            double3 xformOp:translate = (0.08799999952316284, 0, 0)
                                             uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
 
                                             def Xform "fr3v2_1_link7_visual"