diff --git a/libraries/shared/src/GLMHelpers.h b/libraries/shared/src/GLMHelpers.h
index 5574007b9b..ef92552d1f 100644
--- a/libraries/shared/src/GLMHelpers.h
+++ b/libraries/shared/src/GLMHelpers.h
@@ -147,8 +147,7 @@ bool isPointBehindTrianglesPlane(glm::vec3 point, glm::vec3 p0, glm::vec3 p1, gl
 
 glm::vec3 extractTranslation(const glm::mat4& matrix);
 
-void setTranslation(glm::mat4& matrix, cons
-                    t glm::vec3& translation);
+void setTranslation(glm::mat4& matrix, const glm::vec3& translation);
 
 glm::quat extractRotation(const glm::mat4& matrix, bool assumeOrthogonal = false);
 glm::quat glmExtractRotation(const glm::mat4& matrix);
diff --git a/plugins/openvr/src/ViveControllerManager.cpp b/plugins/openvr/src/ViveControllerManager.cpp
index 0f0cc5860e..82457928a2 100644
--- a/plugins/openvr/src/ViveControllerManager.cpp
+++ b/plugins/openvr/src/ViveControllerManager.cpp
@@ -82,6 +82,28 @@ static bool sortPucksXPosition(PuckPosePair firstPuck, PuckPosePair secondPuck)
     return (firstPuck.second.translation.x < secondPuck.second.translation.x);
 }
 
+static bool comparePosePositions(const controller::Pose& poseA, const controller::Pose& poseB, glm::vec3 axis, glm::vec3 axisOrigin) {
+    glm::vec3 poseAPosition = poseA.getTranslation();
+    glm::vec3 poseBPosition = poseB.getTranslation();
+
+    glm::vec3 poseAFinalPosition = poseAPosition - axisOrigin;
+    glm::vec3 poseBFinalPosition = poseBPosition - axisOrigin;
+
+    float poseADistance = glm::dot(poseAFinalPosition, axis);
+    float poseBDistance = glm::dot(poseBFinalPosition, axis);
+    return (poseADistance > poseBDistance);
+}
+
+static glm::vec3 getHeadXAxis(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
+    glm::mat4 finalHead = defaultToReferenceMat * defaultHead;
+    return glmExtractRotation(finalHead) * Vectors::UNIT_X;
+}
+
+static glm::vec3 getHeadPosition(glm::mat4 defaultToReferenceMat, glm::mat4 defaultHead) {
+    glm::mat4 finalHead = defaultToReferenceMat * defaultHead;
+    return extractTranslation(finalHead);
+}
+
 static QString deviceTrackingResultToString(vr::ETrackingResult trackingResult) {
     QString result;
     auto iterator = TRACKING_RESULT_TO_STRING.find(trackingResult);
@@ -361,12 +383,16 @@ void ViveControllerManager::InputDevice::calibrate(const controller::InputCalibr
         calibrateShoulders(defaultToReferenceMat, inputCalibration, firstShoulderIndex, secondShoulderIndex);
     } else if (_config == Config::FeetHipsAndHead && puckCount == MIN_FEET_HIPS_HEAD) {
         glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
-        calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration);
+        glm::vec3 headXAxis = getHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
+        glm::vec3 headPosition = getHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
+        calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
         calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
         calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
     } else if (_config == Config::FeetHipsChestAndHead && puckCount == MIN_FEET_HIPS_CHEST_HEAD) {
         glm::mat4 headPuckDefaultToReferenceMat = recalculateDefaultToReferenceForHeadPuck(inputCalibration);
-        calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration);
+        glm::vec3 headXAxis = getHeadXAxis(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
+        glm::vec3 headPosition = getHeadPosition(headPuckDefaultToReferenceMat, inputCalibration.defaultHeadMat);
+        calibrateFeet(headPuckDefaultToReferenceMat, inputCalibration, headXAxis, headPosition);
         calibrateHips(headPuckDefaultToReferenceMat, inputCalibration);
         calibrateChest(headPuckDefaultToReferenceMat, inputCalibration);
         calibrateHead(headPuckDefaultToReferenceMat, inputCalibration);
@@ -468,17 +494,29 @@ glm::mat4 ViveControllerManager::InputDevice::recalculateDefaultToReferenceForHe
     glm::mat4 sensorToAvatarMat = glm::inverse(inputCalibration.avatarMat) * inputCalibration.sensorToWorldMat;
     size_t headPuckIndex = _validTrackedObjects.size() - 1;
     controller::Pose headPuckPose = _validTrackedObjects[headPuckIndex].second;
-    glm::mat4 headPuckSensorMat = avatarToSensorMat * createMatFromQuatAndPos(headPuckPose.getRotation(), headPuckPose.getTranslation());
-    glm::vec3 headPuckTranslation = extractTranslation(headPuckSensorMat);
-    glm::vec3 headPuckYRotation = glmExtractRotation(headPuckSensorMat) * glm::vec3(0.0f, 1.0f, 0.0f);
+    glm::mat4 headPuckAvatarMat = createMatFromQuatAndPos(headPuckPose.getRotation(), headPuckPose.getTranslation()) * Matrices::Y_180;
+    glm::vec3 headPuckTranslation = extractTranslation(headPuckAvatarMat);
+    glm::vec3 headPuckZAxis = cancelOutRollAndPitch(glmExtractRotation(headPuckAvatarMat)) * glm::vec3(0.0f, 0.0f, 1.0f);
     glm::vec3 worldUp = glm::vec3(0.0f, 1.0f, 0.0f);
 
-    glm::vec3 desiredY = glm::vec3(0.0f, 1.0f, 0.0f);
-    glm::vec3 xPrime = glm::normalize(glm::cross(worldUp, headPuckYRotation));
-    glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, desiredY));
+    glm::vec3 yPrime = glm::vec3(0.0f, 1.0f, 0.0f);
+    glm::vec3 xPrime = glm::normalize(glm::cross(worldUp, headPuckZAxis));
+    glm::vec3 zPrime = glm::normalize(glm::cross(xPrime, yPrime));
+    glm::mat4 newHeadPuck = glm::mat4(glm::vec4(xPrime, 0.0f), glm::vec4(yPrime, 0.0f),
+                                      glm::vec4(zPrime, 0.0f), glm::vec4(headPuckTranslation, 1.0f));
 
-    glm::mat4 
-    return glm::mat4();
+    glm::mat4 headPuckOffset = glm::mat4(glm::vec4(1.0f, 0.0f, 0.0f, 0.0f), glm::vec4(0.0f, 1.0f, 0.0f, 0.0f),
+                                         glm::vec4(0.0f, 0.0f, 1.0f, 0.0f), glm::vec4(0.0f, -0.005f, 0.0f, 1.0f));
+
+    glm::mat4 finalHeadPuck = newHeadPuck * headPuckOffset;
+
+    glm::mat4 defaultHeadOffset = glm::inverse(inputCalibration.defaultCenterEyeMat) * inputCalibration.defaultHeadMat;
+
+    glm::mat4 currentHead  = finalHeadPuck * defaultHeadOffset;
+
+    // calculate the defaultToRefrenceXform
+    glm::mat4 defaultToReferenceMat = currentHead * glm::inverse(inputCalibration.defaultHeadMat);
+    return defaultToReferenceMat;
 }
 
 void ViveControllerManager::InputDevice::partitionTouchpad(int sButton, int xAxis, int yAxis, int centerPseudoButton, int xPseudoButton, int yPseudoButton) {
@@ -668,6 +706,26 @@ void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToRefer
     }
 }
 
+
+void ViveControllerManager::InputDevice::calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, glm::vec3 headXAxis, glm::vec3 headPosition) {
+    auto& firstFoot = _validTrackedObjects[FIRST_FOOT];
+    auto& secondFoot = _validTrackedObjects[SECOND_FOOT];
+    controller::Pose& firstFootPose = firstFoot.second;
+    controller::Pose& secondFootPose = secondFoot.second;
+    
+    if (comparePosePositions(firstFootPose, secondFootPose, headXAxis, headPosition)) {
+        _jointToPuckMap[controller::LEFT_FOOT] = firstFoot.first;
+        _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, firstFootPose);
+        _jointToPuckMap[controller::RIGHT_FOOT] = secondFoot.first;
+        _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, secondFootPose);   
+    } else {
+        _jointToPuckMap[controller::LEFT_FOOT] = secondFoot.first;
+        _pucksOffset[secondFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultLeftFoot, secondFootPose);
+        _jointToPuckMap[controller::RIGHT_FOOT] = firstFoot.first;
+        _pucksOffset[firstFoot.first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultRightFoot, firstFootPose);
+    }
+}
+
 void ViveControllerManager::InputDevice::calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration) {
     _jointToPuckMap[controller::HIPS] = _validTrackedObjects[HIP].first;
     _pucksOffset[_validTrackedObjects[HIP].first] = computeOffset(defaultToReferenceMat, inputCalibration.defaultHips, _validTrackedObjects[HIP].second);
diff --git a/plugins/openvr/src/ViveControllerManager.h b/plugins/openvr/src/ViveControllerManager.h
index 545af1b00b..c32579b0d8 100644
--- a/plugins/openvr/src/ViveControllerManager.h
+++ b/plugins/openvr/src/ViveControllerManager.h
@@ -85,6 +85,7 @@ private:
         void loadSettings();
         void saveSettings() const;
         void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
+        void calibrateFeet(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration, glm::vec3 headXAxis, glm::vec3 headPosition);
         void calibrateHips(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);
         void calibrateChest(glm::mat4& defaultToReferenceMat, const controller::InputCalibrationData& inputCalibration);