diff --git a/src/components/three/ControllerLocomotion.tsx b/src/components/three/ControllerLocomotion.tsx
index 7855fd1..b2da62b 100644
--- a/src/components/three/ControllerLocomotion.tsx
+++ b/src/components/three/ControllerLocomotion.tsx
@@ -87,6 +87,8 @@ export function ControllerLocomotion({ rigRef }: Props) {
       const ctrlPose = frame.getPose(activeSource.targetRaySpace, referenceSpace);
       if (ctrlPose) {
         const m = new THREE.Matrix4().fromArray(ctrlPose.transform.matrix);
+        // Aplica a matriz de mundo do rig para alinhar a origem física com a locomoção do rig
+        m.premultiply(rig.matrixWorld);
         origin.setFromMatrixPosition(m);
         const q = new THREE.Quaternion().setFromRotationMatrix(m);
         dir.set(0, 0, -1).applyQuaternion(q).normalize();
diff --git a/src/components/three/XRControllerMeasure.tsx b/src/components/three/XRControllerMeasure.tsx
index cd62bd7..b701be7 100644
--- a/src/components/three/XRControllerMeasure.tsx
+++ b/src/components/three/XRControllerMeasure.tsx
@@ -131,6 +131,10 @@ export function XRControllerMeasure() {
     if (!pose) return;
 
     const m = new THREE.Matrix4().fromArray(pose.transform.matrix);
+    const xrRig = useModelStore.getState().xrRig;
+    if (xrRig) {
+      m.premultiply(xrRig.matrixWorld);
+    }
     tmpOrigin.current.setFromMatrixPosition(m);
     tmpQuat.current.setFromRotationMatrix(m);
     tmpDir.current.set(0, 0, -1).applyQuaternion(tmpQuat.current).normalize();
diff --git a/src/hooks/useControllerGrab.ts b/src/hooks/useControllerGrab.ts
index 0fcb596..726a7a1 100644
--- a/src/hooks/useControllerGrab.ts
+++ b/src/hooks/useControllerGrab.ts
@@ -3,6 +3,7 @@ import { useFrame, useThree } from '@react-three/fiber';
 import * as THREE from 'three';
 // DEVKIT: remove this import + the fake-input block in useFrame to strip devkit
 import { fakeInput, isFakeActive } from '@/devkit/fakeInputStore';
+import { useModelStore } from '@/stores/useModelStore';
 
 export interface GrabState {
   /** Analog grip pressure (0..1) */
@@ -108,6 +109,10 @@ export function useControllerGrab() {
         const pose = frame.getPose(source.gripSpace, referenceSpace);
         if (pose) {
           slot.gripWorld.fromArray(pose.transform.matrix);
+          const xrRig = useModelStore.getState().xrRig;
+          if (xrRig) {
+            slot.gripWorld.premultiply(xrRig.matrixWorld);
+          }
           slot.hasPose = true;
         }
       }
diff --git a/src/pages/XRSession.tsx b/src/pages/XRSession.tsx
index 34f7042..562c5c7 100644
--- a/src/pages/XRSession.tsx
+++ b/src/pages/XRSession.tsx
@@ -1157,7 +1157,10 @@ const XRSession = () => {
             <directionalLight position={[3, 5, 3]} intensity={1.2} />
             <directionalLight position={[-3, 3, -3]} intensity={0.4} />
 
-            <group ref={rigRef}>
+            <group ref={(el) => {
+              (rigRef as React.MutableRefObject<THREE.Group | null>).current = el;
+              useModelStore.getState().setXRRig(el);
+            }}>
               <XROrigin />
             </group>
 
diff --git a/src/stores/useModelStore.ts b/src/stores/useModelStore.ts
index 56ad8dd..edd9d27 100644
--- a/src/stores/useModelStore.ts
+++ b/src/stores/useModelStore.ts
@@ -372,6 +372,9 @@ interface ModelStore {
 
   ifcMaterialColors: boolean;
   setIfcMaterialColors: (enabled: boolean) => void;
+
+  xrRig: THREE.Group | null;
+  setXRRig: (rig: THREE.Group | null) => void;
 }
 
 /** Sync top-level legacy `model` / `fineTuning` from active SceneModel. */
@@ -384,6 +387,9 @@ function syncActive(state: Pick<ModelStore, 'models' | 'activeModelId'>): { mode
 }
 
 export const useModelStore = create<ModelStore>((set, get) => ({
+  xrRig: null,
+  setXRRig: (rig) => set({ xrRig: rig }),
+
   // ── Multi-model ─────────────
   models: [],
   activeModelId: null,