diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index d6f64d360a..1cbe127857 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -249,8 +249,6 @@ Menu::Menu() {
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::BlueSpeechSphere, 0, true);
     addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::EnableCharacterController, 0, true,
             avatar, SLOT(updateMotionBehavior()));
-    addCheckableActionToQMenuAndActionHash(avatarMenu, MenuOption::ShiftHipsForIdleAnimations, 0, false,
-            avatar, SLOT(updateMotionBehavior()));
 
     MenuWrapper* viewMenu = addMenu("View");
 
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index 7a9fec4e78..62a1ae3b0f 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -273,7 +273,6 @@ namespace MenuOption {
     const QString SimpleShadows = "Simple";
     const QString SixenseEnabled = "Enable Hydra Support";
     const QString SixenseMouseInput = "Enable Sixense Mouse Input";
-    const QString ShiftHipsForIdleAnimations = "Shift hips for idle animations";
     const QString Stars = "Stars";
     const QString Stats = "Stats";
     const QString StopAllScripts = "Stop All Scripts";
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 487bae6b6e..0c01ce0249 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -98,7 +98,6 @@ MyAvatar::MyAvatar(RigPointer rig) :
     _lookAtTargetAvatar(),
     _shouldRender(true),
     _billboardValid(false),
-    _feetTouchFloor(true),
     _eyeContactTarget(LEFT_EYE),
     _realWorldFieldOfView("realWorldFieldOfView",
                           DEFAULT_REAL_WORLD_FIELD_OF_VIEW_DEGREES),
@@ -161,9 +160,6 @@ void MyAvatar::update(float deltaTime) {
     head->setAudioAverageLoudness(audio->getAudioAverageInputLoudness());
 
     simulate(deltaTime);
-    if (_feetTouchFloor) {
-        _skeletonModel.updateStandingFoot();
-    }
 }
 
 void MyAvatar::simulate(float deltaTime) {
@@ -1073,11 +1069,7 @@ glm::vec3 MyAvatar::getSkeletonPosition() const {
         // The avatar is rotated PI about the yAxis, so we have to correct for it
         // to get the skeleton offset contribution in the world-frame.
         const glm::quat FLIP = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
-        glm::vec3 skeletonOffset = _skeletonOffset;
-        if (_feetTouchFloor) {
-            skeletonOffset += _skeletonModel.getStandingOffset();
-        }
-        return _position + getOrientation() * FLIP * skeletonOffset;
+        return _position + getOrientation() * FLIP * _skeletonOffset;
     }
     return Avatar::getPosition();
 }
@@ -1573,7 +1565,6 @@ void MyAvatar::updateMotionBehavior() {
         _motionBehaviors &= ~AVATAR_MOTION_SCRIPTED_MOTOR_ENABLED;
     }
     _characterController.setEnabled(menu->isOptionChecked(MenuOption::EnableCharacterController));
-    _feetTouchFloor = menu->isOptionChecked(MenuOption::ShiftHipsForIdleAnimations);
 }
 
 //Renders sixense laser pointers for UI selection with controllers
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 77b1ac57f4..129a05f93b 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -251,7 +251,6 @@ private:
     bool _billboardValid;
     float _oculusYawOffset;
 
-    bool _feetTouchFloor;
     eyeContactTarget _eyeContactTarget;
 
     RecorderPointer _recorder;
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index a766a80bab..3830360c0e 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -22,12 +22,6 @@
 #include "Util.h"
 #include "InterfaceLogging.h"
 
-enum StandingFootState {
-    LEFT_FOOT,
-    RIGHT_FOOT,
-    NO_FOOT
-};
-
 SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent, RigPointer rig) :
     Model(rig, parent),
     _triangleFanID(DependencyManager::get<GeometryCache>()->allocateID()),
@@ -36,9 +30,6 @@ SkeletonModel::SkeletonModel(Avatar* owningAvatar, QObject* parent, RigPointer r
     _boundingCapsuleRadius(0.0f),
     _boundingCapsuleHeight(0.0f),
     _defaultEyeModelPosition(glm::vec3(0.0f, 0.0f, 0.0f)),
-    _standingFoot(NO_FOOT),
-    _standingOffset(0.0f),
-    _clampedFootPosition(0.0f),
     _headClipDistance(DEFAULT_NEAR_CLIP)
 {
     assert(_rig);
@@ -534,65 +525,6 @@ glm::vec3 SkeletonModel::getDefaultEyeModelPosition() const {
     return _owningAvatar->getScale() * _defaultEyeModelPosition;
 }
 
-/// \return offset of hips after foot animation
-void SkeletonModel::updateStandingFoot() {
-    if (_geometry == NULL) {
-        return;
-    }
-    glm::vec3 offset(0.0f);
-    int leftFootIndex = _geometry->getFBXGeometry().leftToeJointIndex;
-    int rightFootIndex = _geometry->getFBXGeometry().rightToeJointIndex;
-
-    if (leftFootIndex != -1 && rightFootIndex != -1) {
-        glm::vec3 leftPosition, rightPosition;
-        getJointPosition(leftFootIndex, leftPosition);
-        getJointPosition(rightFootIndex, rightPosition);
-
-        int lowestFoot = (leftPosition.y < rightPosition.y) ? LEFT_FOOT : RIGHT_FOOT;
-        const float MIN_STEP_HEIGHT_THRESHOLD = 0.05f;
-        bool oneFoot = fabsf(leftPosition.y - rightPosition.y) > MIN_STEP_HEIGHT_THRESHOLD;
-        int currentFoot = oneFoot ? lowestFoot : _standingFoot;
-
-        if (_standingFoot == NO_FOOT) {
-            currentFoot = lowestFoot;
-        }
-        if (currentFoot != _standingFoot) {
-            if (_standingFoot == NO_FOOT) {
-                // pick the lowest foot
-                glm::vec3 lowestPosition = (currentFoot == LEFT_FOOT) ? leftPosition : rightPosition;
-                // we ignore zero length positions which can happen for a few frames until skeleton is fully loaded
-                if (glm::length(lowestPosition) > 0.0f) {
-                    _standingFoot = currentFoot;
-                    _clampedFootPosition = lowestPosition;
-                }
-            } else {
-                // swap feet
-                _standingFoot = currentFoot;
-                glm::vec3 nextPosition = leftPosition;
-                glm::vec3 prevPosition = rightPosition;
-                if (_standingFoot == RIGHT_FOOT) {
-                    nextPosition = rightPosition;
-                    prevPosition = leftPosition;
-                }
-                glm::vec3 oldOffset = _clampedFootPosition - prevPosition;
-                _clampedFootPosition = oldOffset + nextPosition;
-                offset = _clampedFootPosition - nextPosition;
-            }
-        } else {
-            glm::vec3 nextPosition = (_standingFoot == LEFT_FOOT) ? leftPosition : rightPosition;
-            offset = _clampedFootPosition - nextPosition;
-        }
-
-        // clamp the offset to not exceed some max distance
-        const float MAX_STEP_OFFSET = 1.0f;
-        float stepDistance = glm::length(offset);
-        if (stepDistance > MAX_STEP_OFFSET) {
-            offset *= (MAX_STEP_OFFSET / stepDistance);
-        }
-    }
-    _standingOffset = offset;
-}
-
 float DENSITY_OF_WATER = 1000.0f; // kg/m^3
 float MIN_JOINT_MASS = 1.0f;
 float VERY_BIG_MASS = 1.0e6f;
diff --git a/interface/src/avatar/SkeletonModel.h b/interface/src/avatar/SkeletonModel.h
index 5e5a85d04d..a089c7b6ef 100644
--- a/interface/src/avatar/SkeletonModel.h
+++ b/interface/src/avatar/SkeletonModel.h
@@ -92,10 +92,6 @@ public:
     /// \return whether or not the head was found.
     glm::vec3 getDefaultEyeModelPosition() const;
 
-    /// skeleton offset caused by moving feet
-    void updateStandingFoot();
-    const glm::vec3& getStandingOffset() const { return _standingOffset; }
-
     void computeBoundingShape(const FBXGeometry& geometry);
     void renderBoundingCollisionShapes(gpu::Batch& batch, float alpha);
     float getBoundingCapsuleRadius() const { return _boundingCapsuleRadius; }
@@ -162,9 +158,6 @@ private:
     float _boundingCapsuleHeight;
 
     glm::vec3 _defaultEyeModelPosition;
-    int _standingFoot;
-    glm::vec3 _standingOffset;
-    glm::vec3 _clampedFootPosition;
 
     float _headClipDistance;  // Near clip distance to use if no separate head model
 };
diff --git a/tests/ui/src/main.cpp b/tests/ui/src/main.cpp
index 614c733322..e8ab7e02df 100644
--- a/tests/ui/src/main.cpp
+++ b/tests/ui/src/main.cpp
@@ -215,7 +215,6 @@ public:
         SixenseEnabled,
         SixenseMouseInput,
         SixenseLasers,
-        ShiftHipsForIdleAnimations,
         Stars,
         Stats,
         StereoAudio,