The franka_v1.usd is directly copied from omniverse://localhost/NVIDIA/Assets/Isaac/4.2/Isaac/Robots/Franka/franka.usd.
The franka_v2.usd is derived from omniverse://localhost/NVIDIA/Assets/Isaac/2023.1.0/Isaac/Robots/Franka/franka.usd. The damping and stiffness of both the arm and the gripper are modified.
franka_v2.usd is tuned to be more stable, and is expected to have better performance for tasks that is very delicate. It is tested on square_d0 task from RoboSuite. The franka_v1.usd has ~10% success rate, while franka_v2.usd has ~25% success rate.