diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 44b6f9b57d..8ff724c39f 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -108,7 +108,10 @@ MyAvatar::MyAvatar() :
     _hmdSensorPosition(),
     _bodySensorMatrix(),
     _sensorToWorldMatrix(),
-    _standingHMDSensorMode(false)
+    _standingHMDSensorMode(false),
+    _goToPending(false),
+    _goToPosition(),
+    _goToOrientation()
 {
     _firstPersonSkeletonModel.setIsFirstPerson(true);
 
@@ -159,6 +162,12 @@ void MyAvatar::reset() {
 
 void MyAvatar::update(float deltaTime) {
 
+    if (_goToPending) {
+        setPosition(_goToPosition);
+        setOrientation(_goToOrientation);
+        _goToPending = false;
+    }
+
     if (_referential) {
         _referential->update();
     }
@@ -250,21 +259,30 @@ void MyAvatar::simulate(float deltaTime) {
     maybeUpdateBillboard();
 }
 
+glm::mat4 MyAvatar::getSensorToWorldMatrix() const {
+    if (getStandingHMDSensorMode()) {
+        return _sensorToWorldMatrix;
+    } else {
+        return createMatFromQuatAndPos(getWorldAlignedOrientation(), getDefaultEyePosition());
+    }
+}
+
 // best called at end of main loop, just before rendering.
 // update sensor to world matrix from current body position and hmd sensor.
 // This is so the correct camera can be used for rendering.
 void MyAvatar::updateFromHMDSensorMatrix(const glm::mat4& hmdSensorMatrix) {
-
     // update the sensorMatrices based on the new hmd pose
     _hmdSensorMatrix = hmdSensorMatrix;
     _hmdSensorPosition = extractTranslation(hmdSensorMatrix);
     _hmdSensorOrientation = glm::quat_cast(hmdSensorMatrix);
     _bodySensorMatrix = deriveBodyFromHMDSensor();
 
-    // set the body position/orientation to reflect motion due to the head.
-    auto worldMat = _sensorToWorldMatrix * _bodySensorMatrix;
-    setPosition(extractTranslation(worldMat));
-    setOrientation(glm::quat_cast(worldMat));
+    if (getStandingHMDSensorMode()) {
+        // set the body position/orientation to reflect motion due to the head.
+        auto worldMat = _sensorToWorldMatrix * _bodySensorMatrix;
+        setPosition(extractTranslation(worldMat));
+        setOrientation(glm::quat_cast(worldMat));
+    }
 }
 
 // best called at end of main loop, just before rendering.
@@ -1604,35 +1622,27 @@ void MyAvatar::goToLocation(const glm::vec3& newPosition,
     qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - moving to " << newPosition.x << ", "
         << newPosition.y << ", " << newPosition.z;
 
-    if (qApp->isHMDMode() && getStandingHMDSensorMode()) {
-        // AJT: FIXME, does not work with orientation.
-        // AJT: FIXME, does not work with shouldFaceLocation flag.
-        // Set the orientation of the sensor room, not the avatar itself.
-        glm::mat4 m;
-        m[3] = glm::vec4(newPosition, 1);
-        _sensorToWorldMatrix = m;
-    } else {
-        glm::vec3 shiftedPosition = newPosition;
-        if (hasOrientation) {
-            qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - new orientation is "
-                                            << newOrientation.x << ", " << newOrientation.y << ", " << newOrientation.z << ", " << newOrientation.w;
+    _goToPending = true;
+    _goToPosition = newPosition;
+    _goToOrientation = getOrientation();
+    if (hasOrientation) {
+        qCDebug(interfaceapp).nospace() << "MyAvatar goToLocation - new orientation is "
+                                        << newOrientation.x << ", " << newOrientation.y << ", " << newOrientation.z << ", " << newOrientation.w;
 
-            // orient the user to face the target
-            glm::quat quatOrientation = newOrientation;
+        // orient the user to face the target
+        glm::quat quatOrientation = newOrientation;
 
-            if (shouldFaceLocation) {
-                quatOrientation = newOrientation * glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
+        if (shouldFaceLocation) {
+            quatOrientation = newOrientation * glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
 
-                // move the user a couple units away
-                const float DISTANCE_TO_USER = 2.0f;
-                shiftedPosition = newPosition - quatOrientation * IDENTITY_FRONT * DISTANCE_TO_USER;
-            }
-
-            setOrientation(quatOrientation);
+            // move the user a couple units away
+            const float DISTANCE_TO_USER = 2.0f;
+            _goToPosition = newPosition - quatOrientation * IDENTITY_FRONT * DISTANCE_TO_USER;
         }
 
-        slamPosition(shiftedPosition);
+        _goToOrientation = quatOrientation;
     }
+
     emit transformChanged();
 }
 
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 43c9194f74..2f4c5275cf 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -48,7 +48,7 @@ public:
     const glm::mat4& getHMDSensorMatrix() const { return _hmdSensorMatrix; }
     const glm::vec3& getHMDSensorPosition() const { return _hmdSensorPosition; }
     const glm::quat& getHMDSensorOrientation() const { return _hmdSensorOrientation; }
-    glm::mat4 getSensorToWorldMatrix() const { return _sensorToWorldMatrix; }
+    glm::mat4 getSensorToWorldMatrix() const;
 
     // best called at start of main loop just after we have a fresh hmd pose.
     // update internal body position from new hmd pose.
@@ -330,6 +330,10 @@ private:
     glm::mat4 _sensorToWorldMatrix;
 
     bool _standingHMDSensorMode;
+
+    bool _goToPending;
+    glm::vec3 _goToPosition;
+    glm::quat _goToOrientation;
 };
 
 #endif // hifi_MyAvatar_h
diff --git a/libraries/display-plugins/src/display-plugins/oculus/OculusBaseDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/oculus/OculusBaseDisplayPlugin.cpp
index 24697de89f..61feb00cd0 100644
--- a/libraries/display-plugins/src/display-plugins/oculus/OculusBaseDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/oculus/OculusBaseDisplayPlugin.cpp
@@ -54,7 +54,9 @@ glm::mat4 OculusBaseDisplayPlugin::getProjection(Eye eye, const glm::mat4& baseP
 }
 
 glm::mat4 OculusBaseDisplayPlugin::getModelview(Eye eye, const glm::mat4& baseModelview) const {
-    return baseModelview * toGlm(_eyePoses[eye]);
+    auto eyeOffsetMat = glm::mat4();
+    setTranslation(eyeOffsetMat, toGlm(_eyeOffsets[eye]));
+    return baseModelview * eyeOffsetMat;
 }
 
 void OculusBaseDisplayPlugin::resetSensors() {