diff --git a/interface/src/Application.cpp b/interface/src/Application.cpp
index 654e58c170..d575160f99 100644
--- a/interface/src/Application.cpp
+++ b/interface/src/Application.cpp
@@ -3288,14 +3288,6 @@ void Application::update(float deltaTime) {
 
     // update sensorToWorldMatrix for rendering camera.
     myAvatar->updateSensorToWorldMatrix();
-
-    // AJT: TODO: make this a menu item.
-    const bool DRAW_SENSOR_TO_WORLD_MATRIX = true;
-    if (DRAW_SENSOR_TO_WORLD_MATRIX) {
-        // draw the origin of the room in world space.
-        glm::mat4 m = myAvatar->getSensorToWorldMatrix();
-        DebugDraw::getInstance().addMarker("room", glmExtractRotation(m), extractTranslation(m), glm::vec4(1));
-    }
 }
 
 
diff --git a/interface/src/Menu.cpp b/interface/src/Menu.cpp
index d605516380..919ee0f3c3 100644
--- a/interface/src/Menu.cpp
+++ b/interface/src/Menu.cpp
@@ -471,6 +471,8 @@ Menu::Menu() {
         avatar, SLOT(setUseAnimPreAndPostRotations(bool)));
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::EnableInverseKinematics, 0, true,
         avatar, SLOT(setEnableInverseKinematics(bool)));
+    addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::RenderSensorToWorldMatrix, 0, false,
+        avatar, SLOT(setEnableDebugDrawSensorToWorldMatrix(bool)));
 
     addCheckableActionToQMenuAndActionHash(avatarDebugMenu, MenuOption::KeyboardMotorControl,
         Qt::CTRL | Qt::SHIFT | Qt::Key_K, true, avatar, SLOT(updateMotionBehaviorFromMenu()),
diff --git a/interface/src/Menu.h b/interface/src/Menu.h
index fb00416af0..8ffd7efb36 100644
--- a/interface/src/Menu.h
+++ b/interface/src/Menu.h
@@ -144,6 +144,7 @@ namespace MenuOption {
     const QString RenderResolutionHalf = "1/2";
     const QString RenderResolutionThird = "1/3";
     const QString RenderResolutionQuarter = "1/4";
+    const QString RenderSensorToWorldMatrix = "Show SensorToWorld Matrix";
     const QString ResetAvatarSize = "Reset Avatar Size";
     const QString ResetSensors = "Reset Sensors";
     const QString RunningScripts = "Running Scripts...";
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 397627434f..a5b69f2be6 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -442,6 +442,10 @@ void MyAvatar::updateSensorToWorldMatrix() {
     _sensorToWorldMatrix = desiredMat * glm::inverse(_bodySensorMatrix);
 
     lateUpdatePalms();
+
+    if (_enableDebugDrawSensorToWorldMatrix) {
+        DebugDraw::getInstance().addMarker("sensorToWorldMatrix", glmExtractRotation(_sensorToWorldMatrix), extractTranslation(_sensorToWorldMatrix), glm::vec4(1));
+    }
 }
 
 //  Update avatar head rotation with sensor data
@@ -695,6 +699,14 @@ void MyAvatar::setEnableDebugDrawPosition(bool isEnabled) {
     }
 }
 
+void MyAvatar::setEnableDebugDrawSensorToWorldMatrix(bool isEnabled) {
+    _enableDebugDrawSensorToWorldMatrix = isEnabled;
+
+    if (!isEnabled) {
+        DebugDraw::getInstance().removeMarker("sensorToWorldMatrix");
+    }
+}
+
 void MyAvatar::setEnableMeshVisible(bool isEnabled) {
     render::ScenePointer scene = qApp->getMain3DScene();
     _skeletonModel.setVisibleInScene(isEnabled, scene);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 731cba8153..8e5c1796b1 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -267,6 +267,7 @@ public slots:
     void setEnableDebugDrawDefaultPose(bool isEnabled);
     void setEnableDebugDrawAnimPose(bool isEnabled);
     void setEnableDebugDrawPosition(bool isEnabled);
+    void setEnableDebugDrawSensorToWorldMatrix(bool isEnabled);
     bool getEnableMeshVisible() const { return _skeletonModel.isVisible(); }
     void setEnableMeshVisible(bool isEnabled);
     void setUseAnimPreAndPostRotations(bool isEnabled);
@@ -429,6 +430,7 @@ private:
 
     bool _enableDebugDrawDefaultPose { false };
     bool _enableDebugDrawAnimPose { false };
+    bool _enableDebugDrawSensorToWorldMatrix { false };
 
     AudioListenerMode _audioListenerMode;
     glm::vec3 _customListenPosition;
diff --git a/plugins/openvr/src/OpenVrDisplayPlugin.cpp b/plugins/openvr/src/OpenVrDisplayPlugin.cpp
index e5708572f6..57a896dd4d 100644
--- a/plugins/openvr/src/OpenVrDisplayPlugin.cpp
+++ b/plugins/openvr/src/OpenVrDisplayPlugin.cpp
@@ -68,6 +68,21 @@ void OpenVrDisplayPlugin::activate() {
     _compositor = vr::VRCompositor();
     Q_ASSERT(_compositor);
     HmdDisplayPlugin::activate();
+
+    // set up default sensor space such that the UI overlay will align with the front of the room.
+    auto chaperone = vr::VRChaperone();
+    if (chaperone) {
+        float const UI_RADIUS = 1.0f;
+        float const UI_HEIGHT = 1.6f;
+        float const UI_Z_OFFSET = 0.5;
+
+        float xSize, zSize;
+        chaperone->GetPlayAreaSize(&xSize, &zSize);
+        glm::vec3 uiPos(0.0f, UI_HEIGHT, 0.5f * zSize - UI_RADIUS + UI_Z_OFFSET);
+        _sensorResetMat = glm::inverse(createMatFromQuatAndPos(Quaternions::Y_180, uiPos));
+    } else {
+        qDebug() << "OpenVR: error could not get chaperone pointer";
+    }
 }
 
 void OpenVrDisplayPlugin::deactivate() {
@@ -115,7 +130,7 @@ glm::mat4 OpenVrDisplayPlugin::getHeadPose(uint32_t frameIndex) const {
 #endif
 
     vr::TrackedDevicePose_t predictedTrackedDevicePose[vr::k_unMaxTrackedDeviceCount];
-    _system->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseSeated, predictedSecondsFromNow, predictedTrackedDevicePose, vr::k_unMaxTrackedDeviceCount);
+    _system->GetDeviceToAbsoluteTrackingPose(vr::TrackingUniverseStanding, predictedSecondsFromNow, predictedTrackedDevicePose, vr::k_unMaxTrackedDeviceCount);
 
     // copy and process predictedTrackedDevicePoses
     for (int i = 0; i < vr::k_unMaxTrackedDeviceCount; i++) {