diff --git a/examples/defaultScripts.js b/examples/defaultScripts.js
index 4cb98a5df5..53e7e43aa9 100644
--- a/examples/defaultScripts.js
+++ b/examples/defaultScripts.js
@@ -14,7 +14,7 @@ Script.load("selectAudioDevice.js");
 Script.load("inspect.js");
 Script.load("notifications.js");
 Script.load("users.js");
-Script.load("handControllerGrab.js");
+Script.load("controllers/handControllerGrab.js");
 Script.load("grab.js");
 Script.load("directory.js");
 Script.load("dialTone.js");
diff --git a/examples/entityScripts/boombox.js b/examples/entityScripts/boombox.js
index d1d18ec615..cc0dc23a23 100644
--- a/examples/entityScripts/boombox.js
+++ b/examples/entityScripts/boombox.js
@@ -71,7 +71,7 @@
                             if (_this.injector == null) {
                                 _this.injector = Audio.playSound(_this.song,  {
                                     position: props.position, // position of boombox entity
-                                    volume: 0.5,
+                                    volume: 0.1,
                                     loop: true
                                 });
                             } else {
diff --git a/examples/libraries/utils.js b/examples/libraries/utils.js
index 10694b11f5..1275975fd8 100644
--- a/examples/libraries/utils.js
+++ b/examples/libraries/utils.js
@@ -96,20 +96,44 @@ mergeObjects = function(proto, custom) {
     return result;
 }
 
+LOG_WARN = 1;
+
 logWarn = function(str) {
-    print(str);
+    if (LOG_WARN) {
+        print(str);
+    }
 }
 
+LOG_ERROR = 1;
+
 logError = function(str) {
-    print(str);
+    if (LOG_ERROR) {
+        print(str);
+    }
 }
 
+LOG_INFO = 1;
+
 logInfo = function(str) {
-    print(str);
+    if (LOG_INFO) {
+        print(str);
+    }
 }
 
+LOG_DEBUG = 0;
+
 logDebug = function(str) {
-    print(str);
+    if (LOG_DEBUG) {
+        print(str);
+    }
+}
+
+LOG_TRACE = 0;
+
+logTrace = function(str) {
+    if (LOG_TRACE) {
+        print(str);
+    }
 }
 
 // Computes the penetration between a point and a sphere (centered at the origin)
diff --git a/examples/toys/bubblewand/bubble.js b/examples/toys/bubblewand/bubble.js
index 05b625c124..3cc68fecfa 100644
--- a/examples/toys/bubblewand/bubble.js
+++ b/examples/toys/bubblewand/bubble.js
@@ -26,7 +26,7 @@
 
     this.collisionWithEntity = function(myID, otherID, collision) {
         //if(Entites.getEntityProperties(otherID).userData.objectType==='') { merge bubbles?}
-        Entities.deleteEntity(myID);
+      // Entities.deleteEntity(myID);
       //  this.burstBubbleSound(collision.contactPoint)
 
     };
diff --git a/examples/toys/bubblewand/createWand.js b/examples/toys/bubblewand/createWand.js
index d5204c8075..15c347d62a 100644
--- a/examples/toys/bubblewand/createWand.js
+++ b/examples/toys/bubblewand/createWand.js
@@ -35,7 +35,7 @@ var wand = Entities.addEntity({
 });
 
 function cleanup() {
-	//Entities.deleteEntity(wand);
+	Entities.deleteEntity(wand);
 }
 
 
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index adfde2936b..b544739f5a 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -761,7 +761,7 @@ void MyAvatar::setEnableDebugDrawAnimPose(bool isEnabled) {
     _enableDebugDrawAnimPose = isEnabled;
 
     if (!isEnabled) {
-        AnimDebugDraw::getInstance().removeAnimNode("myAvatar");
+        AnimDebugDraw::getInstance().removePoses("myAvatar");
     }
 }
 
@@ -1274,8 +1274,6 @@ void MyAvatar::initAnimGraph() {
 
 void MyAvatar::destroyAnimGraph() {
     _rig->destroyAnimGraph();
-    AnimDebugDraw::getInstance().removeSkeleton("myAvatar");
-    AnimDebugDraw::getInstance().removeAnimNode("myAvatar");
 }
 
 void MyAvatar::preRender(RenderArgs* renderArgs) {
@@ -1287,26 +1285,35 @@ void MyAvatar::preRender(RenderArgs* renderArgs) {
         initHeadBones();
         _skeletonModel.setCauterizeBoneSet(_headBoneSet);
         initAnimGraph();
+        _debugDrawSkeleton = std::make_shared<AnimSkeleton>(_skeletonModel.getGeometry()->getFBXGeometry());
     }
 
     if (_enableDebugDrawBindPose || _enableDebugDrawAnimPose) {
 
-        AnimSkeleton::ConstPointer animSkeleton = _rig->getAnimSkeleton();
-        AnimNode::ConstPointer animNode = _rig->getAnimNode();
-
-        // bones space is rotated
+        // bones are aligned such that z is forward, not -z.
         glm::quat rotY180 = glm::angleAxis((float)M_PI, glm::vec3(0.0f, 1.0f, 0.0f));
         AnimPose xform(glm::vec3(1), rotY180 * getOrientation(), getPosition());
 
-        if (animSkeleton && _enableDebugDrawBindPose) {
+        if (_enableDebugDrawBindPose && _debugDrawSkeleton) {
             glm::vec4 gray(0.2f, 0.2f, 0.2f, 0.2f);
-            AnimDebugDraw::getInstance().addSkeleton("myAvatar", animSkeleton, xform, gray);
+            AnimDebugDraw::getInstance().addSkeleton("myAvatar", _debugDrawSkeleton, xform, gray);
         }
 
-        // This only works for when new anim system is enabled, at the moment.
-        if (animNode && animSkeleton && _enableDebugDrawAnimPose && _rig->getEnableAnimGraph()) {
+        if (_enableDebugDrawAnimPose && _debugDrawSkeleton) {
             glm::vec4 cyan(0.1f, 0.6f, 0.6f, 1.0f);
-            AnimDebugDraw::getInstance().addAnimNode("myAvatar", animNode, xform, cyan);
+
+            // build AnimPoseVec from JointStates.
+            AnimPoseVec poses;
+            poses.reserve(_debugDrawSkeleton->getNumJoints());
+            for (int i = 0; i < _debugDrawSkeleton->getNumJoints(); i++) {
+                AnimPose pose = _debugDrawSkeleton->getRelativeBindPose(i);
+                glm::quat jointRot;
+                _rig->getJointRotationInConstrainedFrame(i, jointRot);
+                pose.rot = pose.rot * jointRot;
+                poses.push_back(pose);
+            }
+
+            AnimDebugDraw::getInstance().addPoses("myAvatar", _debugDrawSkeleton, poses, xform, cyan);
         }
     }
 
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 5fdfe000e3..cc26be9012 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -323,6 +323,7 @@ private:
 
     bool _enableDebugDrawBindPose = false;
     bool _enableDebugDrawAnimPose = false;
+    AnimSkeleton::ConstPointer _debugDrawSkeleton = nullptr;
 };
 
 #endif // hifi_MyAvatar_h
diff --git a/interface/src/avatar/SkeletonModel.cpp b/interface/src/avatar/SkeletonModel.cpp
index 7b5979e62f..d3b3c19c08 100644
--- a/interface/src/avatar/SkeletonModel.cpp
+++ b/interface/src/avatar/SkeletonModel.cpp
@@ -103,13 +103,15 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         _rig->computeMotionAnimationState(deltaTime, _owningAvatar->getPosition(), _owningAvatar->getVelocity(), _owningAvatar->getOrientation());
     }
     Model::updateRig(deltaTime, parentTransform);
+    Head* head = _owningAvatar->getHead();
     if (_owningAvatar->isMyAvatar()) {
+        MyAvatar* myAvatar = static_cast<MyAvatar*>(_owningAvatar);
         const FBXGeometry& geometry = _geometry->getFBXGeometry();
-        Head* head = _owningAvatar->getHead();
 
         Rig::HeadParameters params;
         params.modelRotation = getRotation();
         params.modelTranslation = getTranslation();
+        params.enableLean = qApp->isHMDMode() && !myAvatar->getStandingHMDSensorMode();
         params.leanSideways = head->getFinalLeanSideways();
         params.leanForward = head->getFinalLeanForward();
         params.torsoTwist = head->getTorsoTwist();
@@ -133,7 +135,6 @@ void SkeletonModel::updateRig(float deltaTime, glm::mat4 parentTransform) {
         // However, in the !isLookingAtMe case, the eyes aren't rotating the way they should right now.
         // We will revisit that as priorities allow, and particularly after the new rig/animation/joints.
         const FBXGeometry& geometry = _geometry->getFBXGeometry();
-        Head* head = _owningAvatar->getHead();
         // If the head is not positioned, updateEyeJoints won't get the math right
         glm::quat headOrientation;
         _rig->getJointRotation(geometry.headJointIndex, headOrientation);
@@ -548,14 +549,24 @@ void SkeletonModel::computeBoundingShape() {
     totalExtents.addPoint(glm::vec3(0.0f));
     int numStates = _rig->getJointStateCount();
     for (int i = 0; i < numStates; i++) {
-        // compute the default transform of this joint
         const JointState& state = _rig->getJointState(i);
 
-        // Each joint contributes a sphere at its position
-        glm::vec3 axis(state.getBoneRadius());
-        glm::vec3 jointPosition = state.getPosition();
-        totalExtents.addPoint(jointPosition + axis);
-        totalExtents.addPoint(jointPosition - axis);
+        const glm::mat4& jointTransform = state.getTransform();
+        float scale = extractUniformScale(jointTransform);
+
+        // Each joint contributes a capsule defined by FBXJoint.shapeInfo.
+        // For totalExtents we use the capsule endpoints expanded by the radius.
+        const FBXJointShapeInfo& shapeInfo = geometry.joints.at(i).shapeInfo;
+        for (int j = 0; j < shapeInfo.points.size(); ++j) {
+            glm::vec3 transformedPoint = extractTranslation(jointTransform * glm::translate(shapeInfo.points[j]));
+            vec3 radius(scale * shapeInfo.radius);
+            totalExtents.addPoint(transformedPoint + radius);
+            totalExtents.addPoint(transformedPoint - radius);
+        }
+        // HACK so that default legless robot doesn't knuckle-drag
+        if (shapeInfo.points.size() == 0 && (state.getName() == "LeftFoot" || state.getName() == "RightFoot")) {
+            totalExtents.addPoint(extractTranslation(jointTransform));
+        }
     }
 
     // compute bounding shape parameters
diff --git a/libraries/animation/src/AnimSkeleton.cpp b/libraries/animation/src/AnimSkeleton.cpp
index 3f11607f26..5dfed265a2 100644
--- a/libraries/animation/src/AnimSkeleton.cpp
+++ b/libraries/animation/src/AnimSkeleton.cpp
@@ -58,7 +58,52 @@ AnimPose::operator glm::mat4() const {
                      glm::vec4(zAxis, 0.0f), glm::vec4(trans, 1.0f));
 }
 
+AnimSkeleton::AnimSkeleton(const FBXGeometry& fbxGeometry) {
+    // convert to std::vector of joints
+    std::vector<FBXJoint> joints;
+    joints.reserve(fbxGeometry.joints.size());
+    for (auto& joint : fbxGeometry.joints) {
+        joints.push_back(joint);
+    }
+
+    AnimPose geometryOffset(fbxGeometry.offset);
+    buildSkeletonFromJoints(joints, geometryOffset);
+}
+
 AnimSkeleton::AnimSkeleton(const std::vector<FBXJoint>& joints, const AnimPose& geometryOffset) {
+    buildSkeletonFromJoints(joints, geometryOffset);
+}
+
+int AnimSkeleton::nameToJointIndex(const QString& jointName) const {
+    for (size_t i = 0; i < _joints.size(); i++) {
+        if (_joints[i].name == jointName) {
+            return i;
+        }
+    }
+    return -1;
+}
+
+int AnimSkeleton::getNumJoints() const {
+    return _joints.size();
+}
+
+const AnimPose& AnimSkeleton::getAbsoluteBindPose(int jointIndex) const {
+    return _absoluteBindPoses[jointIndex];
+}
+
+const AnimPose& AnimSkeleton::getRelativeBindPose(int jointIndex) const {
+    return _relativeBindPoses[jointIndex];
+}
+
+int AnimSkeleton::getParentIndex(int jointIndex) const {
+    return _joints[jointIndex].parentIndex;
+}
+
+const QString& AnimSkeleton::getJointName(int jointIndex) const {
+    return _joints[jointIndex].name;
+}
+
+void AnimSkeleton::buildSkeletonFromJoints(const std::vector<FBXJoint>& joints, const AnimPose& geometryOffset) {
     _joints = joints;
 
     // build a cache of bind poses
@@ -113,35 +158,6 @@ AnimSkeleton::AnimSkeleton(const std::vector<FBXJoint>& joints, const AnimPose&
     }
 }
 
-int AnimSkeleton::nameToJointIndex(const QString& jointName) const {
-    for (size_t i = 0; i < _joints.size(); i++) {
-        if (_joints[i].name == jointName) {
-            return i;
-        }
-    }
-    return -1;
-}
-
-int AnimSkeleton::getNumJoints() const {
-    return _joints.size();
-}
-
-AnimPose AnimSkeleton::getAbsoluteBindPose(int jointIndex) const {
-    return _absoluteBindPoses[jointIndex];
-}
-
-AnimPose AnimSkeleton::getRelativeBindPose(int jointIndex) const {
-    return _relativeBindPoses[jointIndex];
-}
-
-int AnimSkeleton::getParentIndex(int jointIndex) const {
-    return _joints[jointIndex].parentIndex;
-}
-
-const QString& AnimSkeleton::getJointName(int jointIndex) const {
-    return _joints[jointIndex].name;
-}
-
 #ifndef NDEBUG
 void AnimSkeleton::dump() const {
     qCDebug(animation) << "[";
diff --git a/libraries/animation/src/AnimSkeleton.h b/libraries/animation/src/AnimSkeleton.h
index c0c5036cc7..4a6c3c0087 100644
--- a/libraries/animation/src/AnimSkeleton.h
+++ b/libraries/animation/src/AnimSkeleton.h
@@ -47,16 +47,17 @@ public:
     using Pointer = std::shared_ptr<AnimSkeleton>;
     using ConstPointer = std::shared_ptr<const AnimSkeleton>;
 
+    AnimSkeleton(const FBXGeometry& fbxGeometry);
     AnimSkeleton(const std::vector<FBXJoint>& joints, const AnimPose& geometryOffset);
     int nameToJointIndex(const QString& jointName) const;
     const QString& getJointName(int jointIndex) const;
     int getNumJoints() const;
 
     // absolute pose, not relative to parent
-    AnimPose getAbsoluteBindPose(int jointIndex) const;
+    const AnimPose& getAbsoluteBindPose(int jointIndex) const;
 
     // relative to parent pose
-    AnimPose getRelativeBindPose(int jointIndex) const;
+    const AnimPose& getRelativeBindPose(int jointIndex) const;
 
     int getParentIndex(int jointIndex) const;
 
@@ -66,6 +67,8 @@ public:
 #endif
 
 protected:
+    void buildSkeletonFromJoints(const std::vector<FBXJoint>& joints, const AnimPose& geometryOffset);
+
     std::vector<FBXJoint> _joints;
     AnimPoseVec _absoluteBindPoses;
     AnimPoseVec _relativeBindPoses;
diff --git a/libraries/animation/src/JointState.cpp b/libraries/animation/src/JointState.cpp
index edea3b462d..9597a46726 100644
--- a/libraries/animation/src/JointState.cpp
+++ b/libraries/animation/src/JointState.cpp
@@ -41,7 +41,6 @@ void JointState::copyState(const JointState& other) {
     // DO NOT copy _constraint
     _name = other._name;
     _isFree = other._isFree;
-    _boneRadius = other._boneRadius;
     _parentIndex = other._parentIndex;
     _defaultRotation = other._defaultRotation;
     _inverseDefaultRotation = other._inverseDefaultRotation;
@@ -58,7 +57,6 @@ JointState::JointState(const FBXJoint& joint) {
     _rotationInConstrainedFrame = joint.rotation;
     _name = joint.name;
     _isFree = joint.isFree;
-    _boneRadius = joint.boneRadius;
     _parentIndex = joint.parentIndex;
     _translation = joint.translation;
     _defaultRotation = joint.rotation;
diff --git a/libraries/animation/src/JointState.h b/libraries/animation/src/JointState.h
index 4f45661eb2..07ed010104 100644
--- a/libraries/animation/src/JointState.h
+++ b/libraries/animation/src/JointState.h
@@ -118,7 +118,6 @@ public:
     const glm::quat& getDefaultRotation() const { return _defaultRotation; }
     const glm::quat& getInverseDefaultRotation() const { return _inverseDefaultRotation; }
     const QString& getName() const { return _name; }
-    float getBoneRadius() const { return _boneRadius; }
     bool getIsFree() const { return _isFree; }
     float getAnimationPriority() const { return _animationPriority; }
     void setAnimationPriority(float priority) { _animationPriority = priority; }
@@ -149,7 +148,6 @@ private:
     QString _name;
     int _parentIndex;
     bool _isFree;
-    float _boneRadius;
     glm::vec3 _rotationMin;
     glm::vec3 _rotationMax;
     glm::quat _preRotation;
diff --git a/libraries/animation/src/Rig.cpp b/libraries/animation/src/Rig.cpp
index f2ea922ab7..f96c0b91fd 100644
--- a/libraries/animation/src/Rig.cpp
+++ b/libraries/animation/src/Rig.cpp
@@ -477,7 +477,7 @@ void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPos
         }
 
         if (glm::length(localVel) > moveThresh) {
-            if (fabs(forwardSpeed) > 0.5f * fabs(lateralSpeed)) {
+            if (fabsf(forwardSpeed) > 0.5f * fabsf(lateralSpeed)) {
                 if (forwardSpeed > 0.0f) {
                     // forward
                     _animVars.set("isMovingForward", true);
@@ -501,7 +501,7 @@ void Rig::computeMotionAnimationState(float deltaTime, const glm::vec3& worldPos
             }
             _state = RigRole::Move;
         } else {
-            if (fabs(turningSpeed) > turnThresh) {
+            if (fabsf(turningSpeed) > turnThresh) {
                 if (turningSpeed > 0.0f) {
                     // turning right
                     _animVars.set("isTurningRight", true);
@@ -901,19 +901,20 @@ glm::quat Rig::setJointRotationInConstrainedFrame(int jointIndex, glm::quat targ
     return endRotation;
 }
 
+bool Rig::getJointRotationInConstrainedFrame(int jointIndex, glm::quat& quatOut) const {
+    if (jointIndex == -1 || _jointStates.isEmpty()) {
+        return false;
+    }
+    quatOut = _jointStates[jointIndex].getRotationInConstrainedFrame();
+    return true;
+}
+
 void Rig::updateVisibleJointStates() {
     for (int i = 0; i < _jointStates.size(); i++) {
         _jointStates[i].slaveVisibleTransform();
     }
 }
 
-void Rig::setJointTransform(int jointIndex, glm::mat4 newTransform) {
-    if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
-        return;
-    }
-    _jointStates[jointIndex].setTransform(newTransform);
-}
-
 void Rig::setJointVisibleTransform(int jointIndex, glm::mat4 newTransform) {
     if (jointIndex == -1 || jointIndex >= _jointStates.size()) {
         return;
@@ -936,7 +937,9 @@ glm::quat Rig::getJointDefaultRotationInParentFrame(int jointIndex) {
 }
 
 void Rig::updateFromHeadParameters(const HeadParameters& params) {
-    updateLeanJoint(params.leanJointIndex, params.leanSideways, params.leanForward, params.torsoTwist);
+    if (params.enableLean) {
+        updateLeanJoint(params.leanJointIndex, params.leanSideways, params.leanForward, params.torsoTwist);
+    }
     updateNeckJoint(params.neckJointIndex, params.localHeadOrientation, params.leanSideways, params.leanForward, params.torsoTwist);
     updateEyeJoints(params.leftEyeJointIndex, params.rightEyeJointIndex, params.modelTranslation, params.modelRotation,
                     params.worldHeadOrientation, params.eyeLookAt, params.eyeSaccade);
@@ -1010,16 +1013,7 @@ void Rig::initAnimGraph(const QUrl& url, const FBXGeometry& fbxGeometry) {
         return;
     }
 
-    // convert to std::vector of joints
-    std::vector<FBXJoint> joints;
-    joints.reserve(fbxGeometry.joints.size());
-    for (auto& joint : fbxGeometry.joints) {
-        joints.push_back(joint);
-    }
-
-    // create skeleton
-    AnimPose geometryOffset(fbxGeometry.offset);
-    _animSkeleton = std::make_shared<AnimSkeleton>(joints, geometryOffset);
+    _animSkeleton = std::make_shared<AnimSkeleton>(fbxGeometry);
 
     // load the anim graph
     _animLoader.reset(new AnimNodeLoader(url));
diff --git a/libraries/animation/src/Rig.h b/libraries/animation/src/Rig.h
index 0bf0645b4d..0a3ebad5d2 100644
--- a/libraries/animation/src/Rig.h
+++ b/libraries/animation/src/Rig.h
@@ -50,13 +50,13 @@ class Rig;
 typedef std::shared_ptr<Rig> RigPointer;
 
 class Rig : public QObject, public std::enable_shared_from_this<Rig> {
-
 public:
 
     struct HeadParameters {
         float leanSideways = 0.0f; // degrees
         float leanForward = 0.0f; // degrees
         float torsoTwist = 0.0f; // degrees
+        bool enableLean = false;
         glm::quat modelRotation = glm::quat();
         glm::quat localHeadOrientation = glm::quat();
         glm::quat worldHeadOrientation = glm::quat();
@@ -133,7 +133,6 @@ public:
                                              glm::vec3 translation, glm::quat rotation) const;
     bool getVisibleJointRotationInWorldFrame(int jointIndex, glm::quat& result, glm::quat rotation) const;
     glm::mat4 getJointTransform(int jointIndex) const;
-    void setJointTransform(int jointIndex, glm::mat4 newTransform);
     glm::mat4 getJointVisibleTransform(int jointIndex) const;
     void setJointVisibleTransform(int jointIndex, glm::mat4 newTransform);
     // Start or stop animations as needed.
@@ -153,6 +152,7 @@ public:
     glm::vec3 getJointDefaultTranslationInConstrainedFrame(int jointIndex);
     glm::quat setJointRotationInConstrainedFrame(int jointIndex, glm::quat targetRotation,
                                                  float priority, bool constrain = false, float mix = 1.0f);
+    bool getJointRotationInConstrainedFrame(int jointIndex, glm::quat& rotOut) const;
     glm::quat getJointDefaultRotationInParentFrame(int jointIndex);
     void updateVisibleJointStates();
 
diff --git a/libraries/fbx/src/FBXReader.cpp b/libraries/fbx/src/FBXReader.cpp
index 35390a8e44..5410859340 100644
--- a/libraries/fbx/src/FBXReader.cpp
+++ b/libraries/fbx/src/FBXReader.cpp
@@ -1257,21 +1257,7 @@ QString getString(const QVariant& value) {
     return list.isEmpty() ? value.toString() : list.at(0).toString();
 }
 
-class JointShapeInfo {
-public:
-    JointShapeInfo() : numVertices(0), 
-            sumVertexWeights(0.0f), sumWeightedRadii(0.0f), numVertexWeights(0), 
-            boneBegin(0.0f), averageRadius(0.0f) {
-    }
-
-    // NOTE: the points here are in the "joint frame" which has the "jointEnd" at the origin
-    int numVertices;        // num vertices from contributing meshes
-    float sumVertexWeights; // sum of all vertex weights
-    float sumWeightedRadii; // sum of weighted vertices
-    int numVertexWeights;   // num vertices that contributed to sums
-    glm::vec3 boneBegin;    // parent joint location (in joint frame)
-    float averageRadius;
-};
+typedef std::vector<glm::vec3> ShapeVertices;
 
 class AnimationCurve {
 public:
@@ -2282,22 +2268,21 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
         joint.postTransform = model.postTransform;
         joint.rotationMin = model.rotationMin;
         joint.rotationMax = model.rotationMax;
-        glm::quat combinedRotation = model.preRotation * model.rotation * model.postRotation;
+        glm::quat combinedRotation = joint.preRotation * joint.rotation * joint.postRotation;
         if (joint.parentIndex == -1) {
-            joint.transform = geometry.offset * glm::translate(model.translation) * model.preTransform * 
-                glm::mat4_cast(combinedRotation) * model.postTransform;
+            joint.transform = geometry.offset * glm::translate(joint.translation) * joint.preTransform * 
+                glm::mat4_cast(combinedRotation) * joint.postTransform;
             joint.inverseDefaultRotation = glm::inverse(combinedRotation);
-            joint.distanceToParent = 0.0f;
+           joint.distanceToParent = 0.0f;
 
         } else {
             const FBXJoint& parentJoint = geometry.joints.at(joint.parentIndex);
-            joint.transform = parentJoint.transform * glm::translate(model.translation) *
-                model.preTransform * glm::mat4_cast(combinedRotation) * model.postTransform;
+            joint.transform = parentJoint.transform * glm::translate(joint.translation) *
+                joint.preTransform * glm::mat4_cast(combinedRotation) * joint.postTransform;
             joint.inverseDefaultRotation = glm::inverse(combinedRotation) * parentJoint.inverseDefaultRotation;
             joint.distanceToParent = glm::distance(extractTranslation(parentJoint.transform),
                 extractTranslation(joint.transform));
         }
-        joint.boneRadius = 0.0f;
         joint.inverseBindRotation = joint.inverseDefaultRotation;
         joint.name = model.name;
         
@@ -2326,9 +2311,10 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
                 zCurve.values.isEmpty() ? defaultValues.z : zCurve.values.at(i % zCurve.values.size()))));
         }
     }
-    // for each joint we allocate a JointShapeInfo in which we'll store collision shape info
-    QVector<JointShapeInfo> jointShapeInfos;
-    jointShapeInfos.resize(geometry.joints.size());
+
+    // NOTE: shapeVertices are in joint-frame
+    QVector<ShapeVertices> shapeVertices;
+    shapeVertices.resize(geometry.joints.size());
 
     // find our special joints
     geometry.leftEyeJointIndex = modelIDs.indexOf(jointEyeLeftID);
@@ -2585,8 +2571,10 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
                         boneDirection /= boneLength;
                     }
                 }
-                float radiusScale = extractUniformScale(joint.transform * fbxCluster.inverseBindMatrix);
-                JointShapeInfo& jointShapeInfo = jointShapeInfos[jointIndex];
+
+                float clusterScale = extractUniformScale(fbxCluster.inverseBindMatrix);
+                glm::mat4 meshToJoint = glm::inverse(joint.bindTransform) * modelTransform;
+                ShapeVertices& points = shapeVertices[jointIndex];
 
                 float totalWeight = 0.0f;
                 for (int j = 0; j < cluster.indices.size(); j++) {
@@ -2595,18 +2583,13 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
                     totalWeight += weight;
                     for (QMultiHash<int, int>::const_iterator it = extracted.newIndices.constFind(oldIndex);
                             it != extracted.newIndices.end() && it.key() == oldIndex; it++) {
-                        // expand the bone radius for vertices with at least 1/4 weight
+
+                        // remember vertices with at least 1/4 weight
                         const float EXPANSION_WEIGHT_THRESHOLD = 0.25f;
                         if (weight > EXPANSION_WEIGHT_THRESHOLD) {
-                            const glm::vec3& vertex = extracted.mesh.vertices.at(it.value());
-                            float proj = glm::dot(boneDirection, boneEnd - vertex);
-                            float radiusWeight = (proj < 0.0f || proj > boneLength) ? 0.5f * weight : weight;
-
-                            jointShapeInfo.sumVertexWeights += radiusWeight;
-                            jointShapeInfo.sumWeightedRadii += radiusWeight * radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj);
-                            ++jointShapeInfo.numVertexWeights;
-
-                            ++jointShapeInfo.numVertices;
+                            // transform to joint-frame and save for later
+                            const glm::mat4 vertexTransform = meshToJoint * glm::translate(extracted.mesh.vertices.at(it.value()));
+                            points.push_back(extractTranslation(vertexTransform) * clusterScale);
                         }
 
                         // look for an unused slot in the weights vector
@@ -2649,54 +2632,16 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
             // this is a single-mesh joint
             int jointIndex = maxJointIndex;
             FBXJoint& joint = geometry.joints[jointIndex];
-            JointShapeInfo& jointShapeInfo = jointShapeInfos[jointIndex];
 
-            glm::mat4 transformJointToMesh = inverseModelTransform * joint.bindTransform;
-            glm::vec3 boneEnd = extractTranslation(transformJointToMesh);
-            glm::vec3 boneBegin = boneEnd;
-
-            glm::vec3 boneDirection;
-            float boneLength = 0.0f;
-            if (joint.parentIndex != -1) {
-                boneBegin = extractTranslation(inverseModelTransform * geometry.joints[joint.parentIndex].bindTransform);
-                boneDirection = boneEnd - boneBegin;
-                boneLength = glm::length(boneDirection);
-                if (boneLength > EPSILON) {
-                    boneDirection /= boneLength;
-                }
-            }
-            float radiusScale = extractUniformScale(joint.transform * firstFBXCluster.inverseBindMatrix);
-
-            // compute average vertex
-            glm::vec3 averageVertex(0.0f);
+            // transform cluster vertices to joint-frame and save for later
+            float clusterScale = extractUniformScale(firstFBXCluster.inverseBindMatrix);
+            glm::mat4 meshToJoint = glm::inverse(joint.bindTransform) * modelTransform;
+            ShapeVertices& points = shapeVertices[jointIndex];
             foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
-                float proj = glm::dot(boneDirection, boneEnd - vertex);
-                float radiusWeight = (proj < 0.0f || proj > boneLength) ? 0.5f : 1.0f;
-                jointShapeInfo.sumVertexWeights += radiusWeight;
-                jointShapeInfo.sumWeightedRadii += radiusWeight * radiusScale * glm::distance(vertex, boneEnd - boneDirection * proj);
-                ++jointShapeInfo.numVertexWeights;
-                averageVertex += vertex;
+                const glm::mat4 vertexTransform = meshToJoint * glm::translate(vertex);
+                points.push_back(extractTranslation(vertexTransform) * clusterScale);
             }
 
-            // compute joint's radius
-            int numVertices = extracted.mesh.vertices.size();
-            jointShapeInfo.numVertices = numVertices;
-            if (numVertices > 0) {
-                // compute average radius
-                averageVertex /= (float)jointShapeInfo.numVertices;
-                float averageRadius = 0.0f;
-                foreach (const glm::vec3& vertex, extracted.mesh.vertices) {
-                    averageRadius += glm::distance(vertex, averageVertex);
-                }
-                averageRadius *= radiusScale / (float)jointShapeInfo.numVertices;
-
-                // final radius is minimum of average and weighted
-                float weightedRadius = jointShapeInfo.sumWeightedRadii / jointShapeInfo.sumVertexWeights;
-                jointShapeInfo.averageRadius = glm::min(weightedRadius, averageRadius);
-            }
-
-            // clear sumVertexWeights (this flags it as a single-mesh joint for later)
-            jointShapeInfo.sumVertexWeights = 0.0f;
         }
         extracted.mesh.isEye = (maxJointIndex == geometry.leftEyeJointIndex || maxJointIndex == geometry.rightEyeJointIndex);
 
@@ -2721,24 +2666,59 @@ FBXGeometry* extractFBXGeometry(const FBXNode& node, const QVariantHash& mapping
     glm::vec3 defaultCapsuleAxis(0.0f, 1.0f, 0.0f);
     for (int i = 0; i < geometry.joints.size(); ++i) {
         FBXJoint& joint = geometry.joints[i];
-        JointShapeInfo& jointShapeInfo = jointShapeInfos[i];
 
-        if (joint.parentIndex == -1) {
-            jointShapeInfo.boneBegin = glm::vec3(0.0f);
+        // NOTE: points are in joint-frame
+        // compute average point
+        ShapeVertices& points = shapeVertices[i];
+        glm::vec3 avgPoint = glm::vec3(0.0f);
+        for (uint32_t j = 0; j < points.size(); ++j) {
+            avgPoint += points[j];
+        }
+        avgPoint /= (float)points.size();
+
+        // compute axis from begin to avgPoint
+        glm::vec3 begin(0.0f);
+        glm::vec3 end = avgPoint;
+        glm::vec3 axis = end - begin;
+        float axisLength = glm::length(axis);
+        if (axisLength > EPSILON) {
+            axis /= axisLength;
         } else {
-            const FBXJoint& parentJoint = geometry.joints[joint.parentIndex];
-            glm::quat inverseRotation = glm::inverse(extractRotation(joint.transform));
-            jointShapeInfo.boneBegin = inverseRotation * (extractTranslation(parentJoint.transform) - extractTranslation(joint.transform));
+            axis = glm::vec3(0.0f);
         }
 
-        if (jointShapeInfo.sumVertexWeights > 0.0f) {
-            // mutiple meshes contributed to the bone radius and now that all 
-            // contributing meshes are done we can finally compute the boneRadius
-            joint.boneRadius = jointShapeInfo.sumWeightedRadii / jointShapeInfo.sumVertexWeights;
-        } else {
-            // single-mesh joint
-            joint.boneRadius = jointShapeInfo.averageRadius;
+        // measure average cylindrical radius
+        float avgRadius = 0.0f;
+        if (points.size() > 0) {
+            float minProjection = FLT_MAX;
+            float maxProjection = -FLT_MIN;
+            for (uint32_t j = 0; j < points.size(); ++j) {
+                glm::vec3 offset = points[j] - avgPoint;
+                float projection = glm::dot(offset, axis);
+                maxProjection = glm::max(maxProjection, projection);
+                minProjection = glm::min(minProjection, projection);
+                avgRadius += glm::length(offset - projection * axis);
+            }
+            avgRadius /= (float)points.size();
+        
+            // compute endpoints of capsule in joint-frame
+            glm::vec3 capsuleBegin = avgPoint;
+            glm::vec3 capsuleEnd = avgPoint;
+            if (maxProjection - minProjection < 2.0f * avgRadius) {
+                // the mesh-as-cylinder approximation is too short to collide as a capsule
+                // so we'll collapse it to a sphere (although that isn't a very good approximation)
+                capsuleBegin = avgPoint + 0.5f * (maxProjection + minProjection) * axis;
+                capsuleEnd = capsuleBegin;
+            } else {
+                capsuleBegin = avgPoint + (minProjection + avgRadius) * axis;
+                capsuleEnd = avgPoint + (maxProjection - avgRadius) * axis;
+            }
+
+            // save points for later
+            joint.shapeInfo.points.push_back(capsuleBegin);
+            joint.shapeInfo.points.push_back(capsuleEnd);
         }
+        joint.shapeInfo.radius = avgRadius;
     }
     geometry.palmDirection = parseVec3(mapping.value("palmDirection", "0, -1, 0").toString());
     
diff --git a/libraries/fbx/src/FBXReader.h b/libraries/fbx/src/FBXReader.h
index 158b5581c6..cff22676c8 100644
--- a/libraries/fbx/src/FBXReader.h
+++ b/libraries/fbx/src/FBXReader.h
@@ -55,15 +55,21 @@ public:
     QVector<glm::vec3> normals;
 };
 
+struct FBXJointShapeInfo {
+    // same units and frame as FBXJoint.translation
+    QVector<glm::vec3> points;
+    float radius;
+};
+
 /// A single joint (transformation node) extracted from an FBX document.
 class FBXJoint {
 public:
 
-    bool isFree;
+    FBXJointShapeInfo shapeInfo;
     QVector<int> freeLineage;
+    bool isFree;
     int parentIndex;
     float distanceToParent;
-    float boneRadius;
 
     // http://download.autodesk.com/us/fbx/20112/FBX_SDK_HELP/SDKRef/a00209.html
 
diff --git a/libraries/fbx/src/OBJReader.cpp b/libraries/fbx/src/OBJReader.cpp
index 1dfb7a4587..2645e42874 100644
--- a/libraries/fbx/src/OBJReader.cpp
+++ b/libraries/fbx/src/OBJReader.cpp
@@ -441,7 +441,6 @@ FBXGeometry* OBJReader::readOBJ(QByteArray& model, const QVariantHash& mapping,
         geometry.joints[0].isFree = false;
         geometry.joints[0].parentIndex = -1;
         geometry.joints[0].distanceToParent = 0;
-        geometry.joints[0].boneRadius = 0;
         geometry.joints[0].translation = glm::vec3(0, 0, 0);
         geometry.joints[0].rotationMin = glm::vec3(0, 0, 0);
         geometry.joints[0].rotationMax = glm::vec3(0, 0, 0);
@@ -617,7 +616,6 @@ void fbxDebugDump(const FBXGeometry& fbxgeo) {
         qCDebug(modelformat) << "    freeLineage" << joint.freeLineage;
         qCDebug(modelformat) << "    parentIndex" << joint.parentIndex;
         qCDebug(modelformat) << "    distanceToParent" << joint.distanceToParent;
-        qCDebug(modelformat) << "    boneRadius" << joint.boneRadius;
         qCDebug(modelformat) << "    translation" << joint.translation;
         qCDebug(modelformat) << "    preTransform" << joint.preTransform;
         qCDebug(modelformat) << "    preRotation" << joint.preRotation;
diff --git a/libraries/render-utils/src/AnimDebugDraw.cpp b/libraries/render-utils/src/AnimDebugDraw.cpp
index 1c0f7e0054..b91db94f74 100644
--- a/libraries/render-utils/src/AnimDebugDraw.cpp
+++ b/libraries/render-utils/src/AnimDebugDraw.cpp
@@ -152,22 +152,30 @@ AnimDebugDraw::~AnimDebugDraw() {
     }
 }
 
-void AnimDebugDraw::addSkeleton(std::string key, AnimSkeleton::ConstPointer skeleton, const AnimPose& rootPose, const glm::vec4& color) {
+void AnimDebugDraw::addSkeleton(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPose& rootPose, const glm::vec4& color) {
     _skeletons[key] = SkeletonInfo(skeleton, rootPose, color);
 }
 
-void AnimDebugDraw::removeSkeleton(std::string key) {
+void AnimDebugDraw::removeSkeleton(const std::string& key) {
     _skeletons.erase(key);
 }
 
-void AnimDebugDraw::addAnimNode(std::string key, AnimNode::ConstPointer animNode, const AnimPose& rootPose, const glm::vec4& color) {
+void AnimDebugDraw::addAnimNode(const std::string& key, AnimNode::ConstPointer animNode, const AnimPose& rootPose, const glm::vec4& color) {
     _animNodes[key] = AnimNodeInfo(animNode, rootPose, color);
 }
 
-void AnimDebugDraw::removeAnimNode(std::string key) {
+void AnimDebugDraw::removeAnimNode(const std::string& key) {
     _animNodes.erase(key);
 }
 
+void AnimDebugDraw::addPoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color) {
+    _poses[key] = PosesInfo(skeleton, poses, rootPose, color);
+}
+
+void AnimDebugDraw::removePoses(const std::string& key) {
+    _poses.erase(key);
+}
+
 static const uint32_t red = toRGBA(255, 0, 0, 255);
 static const uint32_t green = toRGBA(0, 255, 0, 255);
 static const uint32_t blue = toRGBA(0, 0, 255, 255);
@@ -176,6 +184,8 @@ const int NUM_CIRCLE_SLICES = 24;
 
 static void addBone(const AnimPose& rootPose, const AnimPose& pose, float radius, Vertex*& v) {
 
+    const float XYZ_AXIS_LENGTH = radius * 4.0f;
+
     AnimPose finalPose = rootPose * pose;
     glm::vec3 base = rootPose * pose.trans;
 
@@ -195,7 +205,7 @@ static void addBone(const AnimPose& rootPose, const AnimPose& pose, float radius
     v->pos = base;
     v->rgba = red;
     v++;
-    v->pos = finalPose * glm::vec3(radius * 2.0f, 0.0f, 0.0f);
+    v->pos = finalPose * glm::vec3(XYZ_AXIS_LENGTH, 0.0f, 0.0f);
     v->rgba = red;
     v++;
 
@@ -213,7 +223,7 @@ static void addBone(const AnimPose& rootPose, const AnimPose& pose, float radius
     v->pos = base;
     v->rgba = green;
     v++;
-    v->pos = finalPose * glm::vec3(0.0f, radius * 2.0f, 0.0f);
+    v->pos = finalPose * glm::vec3(0.0f, XYZ_AXIS_LENGTH, 0.0f);
     v->rgba = green;
     v++;
 
@@ -231,7 +241,7 @@ static void addBone(const AnimPose& rootPose, const AnimPose& pose, float radius
     v->pos = base;
     v->rgba = blue;
     v++;
-    v->pos = finalPose * glm::vec3(0.0f, 0.0f, radius * 2.0f);
+    v->pos = finalPose * glm::vec3(0.0f, 0.0f, XYZ_AXIS_LENGTH);
     v->rgba = blue;
     v++;
 
@@ -322,11 +332,11 @@ void AnimDebugDraw::update() {
         const size_t VERTICES_PER_BONE = (6 + (NUM_CIRCLE_SLICES * 2) * 3);
         const size_t VERTICES_PER_LINK = 8 * 2;
 
-        const float BONE_RADIUS = 0.0075f;
+        const float BONE_RADIUS = 0.01f; // 1 cm
 
         // figure out how many verts we will need.
         int numVerts = 0;
-        for (auto&& iter : _skeletons) {
+        for (auto& iter : _skeletons) {
             AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
             numVerts += skeleton->getNumJoints() * VERTICES_PER_BONE;
             for (int i = 0; i < skeleton->getNumJoints(); i++) {
@@ -337,7 +347,7 @@ void AnimDebugDraw::update() {
             }
         }
 
-        for (auto&& iter : _animNodes) {
+        for (auto& iter : _animNodes) {
             AnimNode::ConstPointer& animNode = std::get<0>(iter.second);
             auto poses = animNode->getPosesInternal();
             numVerts += poses.size() * VERTICES_PER_BONE;
@@ -350,10 +360,21 @@ void AnimDebugDraw::update() {
             }
         }
 
+        for (auto& iter : _poses) {
+            AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
+            numVerts += skeleton->getNumJoints() * VERTICES_PER_BONE;
+            for (int i = 0; i < skeleton->getNumJoints(); i++) {
+                auto parentIndex = skeleton->getParentIndex(i);
+                if (parentIndex >= 0) {
+                    numVerts += VERTICES_PER_LINK;
+                }
+            }
+        }
+
         data._vertexBuffer->resize(sizeof(Vertex) * numVerts);
         Vertex* verts = (Vertex*)data._vertexBuffer->editData();
         Vertex* v = verts;
-        for (auto&& iter : _skeletons) {
+        for (auto& iter : _skeletons) {
             AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
             AnimPose rootPose = std::get<1>(iter.second);
             int hipsIndex = skeleton->nameToJointIndex("Hips");
@@ -380,7 +401,7 @@ void AnimDebugDraw::update() {
             }
         }
 
-        for (auto&& iter : _animNodes) {
+        for (auto& iter : _animNodes) {
             AnimNode::ConstPointer& animNode = std::get<0>(iter.second);
             AnimPose rootPose = std::get<1>(iter.second);
             if (animNode->_skeleton) {
@@ -418,6 +439,42 @@ void AnimDebugDraw::update() {
             }
         }
 
+        for (auto& iter : _poses) {
+            AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
+            AnimPoseVec& poses = std::get<1>(iter.second);
+            AnimPose rootPose = std::get<2>(iter.second);
+            int hipsIndex = skeleton->nameToJointIndex("Hips");
+            if (hipsIndex >= 0) {
+                rootPose.trans -= skeleton->getRelativeBindPose(hipsIndex).trans;
+            }
+            glm::vec4 color = std::get<3>(iter.second);
+
+            std::vector<AnimPose> absAnimPose;
+            absAnimPose.resize(skeleton->getNumJoints());
+
+            for (int i = 0; i < skeleton->getNumJoints(); i++) {
+                const AnimPose& pose = poses[i];
+
+                const float radius = BONE_RADIUS / (pose.scale.x * rootPose.scale.x);
+
+                auto parentIndex = skeleton->getParentIndex(i);
+                if (parentIndex >= 0) {
+                    absAnimPose[i] = absAnimPose[parentIndex] * pose;
+                } else {
+                    absAnimPose[i] = pose;
+                }
+
+                // draw bone
+                addBone(rootPose, absAnimPose[i], radius, v);
+
+                // draw link to parent
+                if (parentIndex >= 0) {
+                    assert(parentIndex < skeleton->getNumJoints());
+                    addLink(rootPose, absAnimPose[i], absAnimPose[parentIndex], radius, color, v);
+                }
+            }
+        }
+
         assert(numVerts == (v - verts));
 
         data._indexBuffer->resize(sizeof(uint16_t) * numVerts);
diff --git a/libraries/render-utils/src/AnimDebugDraw.h b/libraries/render-utils/src/AnimDebugDraw.h
index 489213b80b..cd17f62590 100644
--- a/libraries/render-utils/src/AnimDebugDraw.h
+++ b/libraries/render-utils/src/AnimDebugDraw.h
@@ -27,11 +27,14 @@ public:
     AnimDebugDraw();
     ~AnimDebugDraw();
 
-    void addSkeleton(std::string key, AnimSkeleton::ConstPointer skeleton, const AnimPose& rootPose, const glm::vec4& color);
-    void removeSkeleton(std::string key);
+    void addSkeleton(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPose& rootPose, const glm::vec4& color);
+    void removeSkeleton(const std::string& key);
 
-    void addAnimNode(std::string key, AnimNode::ConstPointer animNode, const AnimPose& rootPose, const glm::vec4& color);
-    void removeAnimNode(std::string key);
+    void addAnimNode(const std::string& key, AnimNode::ConstPointer animNode, const AnimPose& rootPose, const glm::vec4& color);
+    void removeAnimNode(const std::string& key);
+
+    void addPoses(const std::string& key, AnimSkeleton::ConstPointer skeleton, const AnimPoseVec& poses, const AnimPose& rootPose, const glm::vec4& color);
+    void removePoses(const std::string& key);
 
     void update();
 
@@ -44,9 +47,11 @@ protected:
 
     typedef std::tuple<AnimSkeleton::ConstPointer, AnimPose, glm::vec4> SkeletonInfo;
     typedef std::tuple<AnimNode::ConstPointer, AnimPose, glm::vec4> AnimNodeInfo;
+    typedef std::tuple<AnimSkeleton::ConstPointer, AnimPoseVec, AnimPose, glm::vec4> PosesInfo;
 
     std::unordered_map<std::string, SkeletonInfo> _skeletons;
     std::unordered_map<std::string, AnimNodeInfo> _animNodes;
+    std::unordered_map<std::string, PosesInfo> _poses;
 
     // no copies
     AnimDebugDraw(const AnimDebugDraw&) = delete;