diff --git a/Extras/MayaPlugin/scripts/dynamicaUI.mel b/Extras/MayaPlugin/scripts/dynamicaUI.mel
index 59024b58b..71ea447fa 100644
--- a/Extras/MayaPlugin/scripts/dynamicaUI.mel
+++ b/Extras/MayaPlugin/scripts/dynamicaUI.mel
@@ -458,8 +458,19 @@ proc dynamicaUI_createRigidBody(int $activebody, int $collisionShapeType)
 				setAttr ($rigidBodyNode + ".mass" ) $mass;
 				setAttr ($collisionShapeNode + ".type" ) $collisionShapeType;
 
-				float $pos[]= `getAttr ($shapeTransforms[0] + ".translate")`;
 				float $rot[]= `getAttr ($shapeTransforms[0] + ".rotate")`;
+				float $wmatr[]= `getAttr ($shapeTransforms[0] + ".worldMatrix")`;
+				// float $pos[]= `getAttr ($shapeTransforms[0] + ".translate")`;
+				// We need to take into account offset of the pivot point
+				// so get the final translation directly from world matrix
+				// also get existing scale 
+				// note that this may not work if scaling coordinate system differs from object's coordinate system
+				// Bullet does not support that yet
+				float $pos[];
+				$pos[0] = $wmatr[12];
+				$pos[1] = $wmatr[13];
+				$pos[2] = $wmatr[14];
+				float $scale[] = `getAttr ($shapeTransforms[0] + ".scale")`;
 
 				setAttr ($rigidBodyTransforms[0] + ".translate") -type double3 $pos[0] $pos[1] $pos[2];
 				setAttr ($rigidBodyNode + ".initialPosition") -type double3 $pos[0] $pos[1] $pos[2];
@@ -467,6 +478,9 @@ proc dynamicaUI_createRigidBody(int $activebody, int $collisionShapeType)
 				setAttr ($rigidBodyTransforms[0] + ".rotate") -type double3 $rot[0] $rot[1] $rot[2];
 				setAttr ($rigidBodyNode + ".initialRotation") -type double3 $rot[0] $rot[1] $rot[2];
 
+				setAttr ($rigidBodyTransforms[0] + ".scale") -type double3 $scale[0] $scale[1] $scale[2];
+				setAttr ($collisionShapeNode + ".scale" )  -type double3 $scale[0] $scale[1] $scale[2];
+
 				$newBodies[$i] = $rigidBodyTransforms[0];
             }
             else
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
index bacd19d80..af74db4c1 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
@@ -92,6 +92,11 @@ void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index)
 	}
 }
 
+void btGeneric6DofSpringConstraint::setEquilibriumPoint(int index, btScalar val)
+{
+	btAssert((index >= 0) && (index < 6));
+	m_equilibriumPoint[index] = val;
+}
 
 
 void btGeneric6DofSpringConstraint::internalUpdateSprings(btConstraintInfo2* info)
diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
index b084c7e8d..4e723179c 100644
--- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
+++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h
@@ -47,6 +47,7 @@ public:
 	void setDamping(int index, btScalar damping);
 	void setEquilibriumPoint(); // set the current constraint position/orientation as an equilibrium point for all DOF
 	void setEquilibriumPoint(int index);  // set the current constraint position/orientation as an equilibrium point for given DOF
+	void setEquilibriumPoint(int index, btScalar val);
 	virtual void getInfo2 (btConstraintInfo2* info);
 };