diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 832ec7d00e..68e417ba1d 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -3166,6 +3166,7 @@ glm::mat4 MyAvatar::getLeftHandCalibrationMat() const {
 }
 
 bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& orientation) {
+    std::lock_guard<std::mutex> guard(_pinnedJointsMutex);
     auto hipsIndex = getJointIndex("Hips");
     if (index != hipsIndex) {
         qWarning() << "Pinning is only supported for the hips joint at the moment.";
@@ -3185,7 +3186,14 @@ bool MyAvatar::pinJoint(int index, const glm::vec3& position, const glm::quat& o
     return true;
 }
 
+bool MyAvatar::isJointPinned(int index) {
+    std::lock_guard<std::mutex> guard(_pinnedJointsMutex);
+    auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
+    return it != _pinnedJoints.end();
+}
+
 bool MyAvatar::clearPinOnJoint(int index) {
+    std::lock_guard<std::mutex> guard(_pinnedJointsMutex);
     auto it = std::find(_pinnedJoints.begin(), _pinnedJoints.end(), index);
     if (it != _pinnedJoints.end()) {
         _pinnedJoints.erase(it);
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 7c9513cb3e..ab74460d4e 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -448,9 +448,8 @@ public:
     virtual void clearJointData(const QString& name) override;
     virtual void clearJointsData() override;
 
-
-
     Q_INVOKABLE bool pinJoint(int index, const glm::vec3& position, const glm::quat& orientation);
+    bool isJointPinned(int index);
     Q_INVOKABLE bool clearPinOnJoint(int index);
 
     Q_INVOKABLE float getIKErrorOnLastSolve() const;
@@ -837,6 +836,7 @@ private:
     bool getIsAway() const { return _isAway; }
     void setAway(bool value);
 
+    std::mutex _pinnedJointsMutex;
     std::vector<int> _pinnedJoints;
 
     // height of user in sensor space, when standing erect.
diff --git a/interface/src/avatar/MySkeletonModel.cpp b/interface/src/avatar/MySkeletonModel.cpp
index f249be33ea..50e0474831 100644
--- a/interface/src/avatar/MySkeletonModel.cpp
+++ b/interface/src/avatar/MySkeletonModel.cpp
@@ -34,12 +34,25 @@ Rig::CharacterControllerState convertCharacterControllerState(CharacterControlle
 }
 
 static AnimPose computeHipsInSensorFrame(MyAvatar* myAvatar, bool isFlying) {
+
+    glm::mat4 worldToSensorMat = glm::inverse(myAvatar->getSensorToWorldMatrix());
+
+    // check for pinned hips.
+    auto hipsIndex = myAvatar->getJointIndex("Hips");
+    if (myAvatar->isJointPinned(hipsIndex)) {
+        Transform avatarTransform = myAvatar->getTransform();
+        AnimPose result = AnimPose(worldToSensorMat * avatarTransform.getMatrix() * Matrices::Y_180);
+        result.scale() = glm::vec3(1.0f, 1.0f, 1.0f);
+        return result;
+    } else {
+        DebugDraw::getInstance().removeMarker("pinnedHips");
+    }
+
     glm::mat4 hipsMat = myAvatar->deriveBodyFromHMDSensor();
     glm::vec3 hipsPos = extractTranslation(hipsMat);
     glm::quat hipsRot = glmExtractRotation(hipsMat);
 
     glm::mat4 avatarToWorldMat = myAvatar->getTransform().getMatrix();
-    glm::mat4 worldToSensorMat = glm::inverse(myAvatar->getSensorToWorldMatrix());
     glm::mat4 avatarToSensorMat = worldToSensorMat * avatarToWorldMat;
 
     // dampen hips rotation, by mixing it with the avatar orientation in sensor space