diff --git a/interface/src/avatar/AvatarActionHold.cpp b/interface/src/avatar/AvatarActionHold.cpp
index fe5355ff2e..a47bbbad1b 100644
--- a/interface/src/avatar/AvatarActionHold.cpp
+++ b/interface/src/avatar/AvatarActionHold.cpp
@@ -165,7 +165,7 @@ bool AvatarActionHold::getTarget(float deltaTimeStep, glm::quat& rotation, glm::
 
                 Transform avatarTransform;
                 avatarTransform = myAvatar->getTransform();
-                palmPosition = avatarTransform.transform(camRelPos / myAvatar->getDomainLimitedScale());
+                palmPosition = avatarTransform.transform(camRelPos);
                 palmRotation = avatarTransform.getRotation() * camRelRot;
             } else {
                 glm::vec3 avatarRigidBodyPosition;
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index eca61d95c8..9654f989a0 100755
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -2940,30 +2940,6 @@ glm::mat4 MyAvatar::computeCameraRelativeHandControllerMatrix(const glm::mat4& c
     return glm::inverse(avatarMatrix) * controllerWorldMatrix;
 }
 
-glm::vec3 MyAvatar::getAbsoluteJointScaleInObjectFrame(int index) const {
-    if (index < 0) {
-        index += numeric_limits<unsigned short>::max() + 1; // 65536
-    }
-
-    // only sensor to world matrix has non identity scale.
-    switch (index) {
-        case CAMERA_RELATIVE_CONTROLLER_LEFTHAND_INDEX: {
-            auto pose = getControllerPoseInSensorFrame(controller::Action::LEFT_HAND);
-            glm::mat4 controllerSensorMatrix = createMatFromQuatAndPos(pose.rotation, pose.translation);
-            glm::mat4 result = computeCameraRelativeHandControllerMatrix(controllerSensorMatrix);
-            return extractScale(result);
-        }
-        case CAMERA_RELATIVE_CONTROLLER_RIGHTHAND_INDEX: {
-            auto pose = getControllerPoseInSensorFrame(controller::Action::RIGHT_HAND);
-            glm::mat4 controllerSensorMatrix = createMatFromQuatAndPos(pose.rotation, pose.translation);
-            glm::mat4 result = computeCameraRelativeHandControllerMatrix(controllerSensorMatrix);
-            return extractScale(result);
-        }
-        default:
-            return Avatar::getAbsoluteJointScaleInObjectFrame(index);
-    }
-}
-
 glm::quat MyAvatar::getAbsoluteJointRotationInObjectFrame(int index) const {
     if (index < 0) {
         index += numeric_limits<unsigned short>::max() + 1; // 65536
diff --git a/interface/src/avatar/MyAvatar.h b/interface/src/avatar/MyAvatar.h
index 07ad61b271..1c7cd559a6 100644
--- a/interface/src/avatar/MyAvatar.h
+++ b/interface/src/avatar/MyAvatar.h
@@ -513,7 +513,6 @@ public:
     Q_INVOKABLE void setCharacterControllerEnabled(bool enabled); // deprecated
     Q_INVOKABLE bool getCharacterControllerEnabled(); // deprecated
 
-    virtual glm::vec3 getAbsoluteJointScaleInObjectFrame(int index) const override;
     virtual glm::quat getAbsoluteJointRotationInObjectFrame(int index) const override;
     virtual glm::vec3 getAbsoluteJointTranslationInObjectFrame(int index) const override;
 
diff --git a/interface/src/raypick/JointRayPick.cpp b/interface/src/raypick/JointRayPick.cpp
index 48ab908201..b4f0dde687 100644
--- a/interface/src/raypick/JointRayPick.cpp
+++ b/interface/src/raypick/JointRayPick.cpp
@@ -36,7 +36,7 @@ const PickRay JointRayPick::getPickRay(bool& valid) const {
         glm::quat rot = useAvatarHead ? jointRot * glm::angleAxis(-PI / 2.0f, Vectors::RIGHT) : avatarRot * jointRot;
 
         // Apply offset
-        pos = pos + (rot * _posOffset);
+        pos = pos + (rot * (myAvatar->getSensorToWorldScale() * _posOffset));
         glm::vec3 dir = rot * glm::normalize(_dirOffset);
 
         valid = true;
diff --git a/scripts/system/controllers/handControllerGrab.js b/scripts/system/controllers/handControllerGrab.js
index e1c12604fe..dacacae5b3 100644
--- a/scripts/system/controllers/handControllerGrab.js
+++ b/scripts/system/controllers/handControllerGrab.js
@@ -1184,7 +1184,7 @@ function MyController(hand) {
         joint: (hand == RIGHT_HAND) ? "_CAMERA_RELATIVE_CONTROLLER_RIGHTHAND" : "_CAMERA_RELATIVE_CONTROLLER_LEFTHAND",
         filter: RayPick.PICK_ENTITIES | RayPick.PICK_OVERLAYS | RayPick.PICK_INCLUDE_NONCOLLIDABLE,
         maxDistance: PICK_MAX_DISTANCE,
-        posOffset: getGrabPointSphereOffset(this.handToController()),
+        posOffset: getGrabPointSphereOffset(this.handToController(), true),
         renderStates: renderStates,
         faceAvatar: true,
         defaultRenderStates: defaultRenderStates
diff --git a/scripts/system/libraries/controllers.js b/scripts/system/libraries/controllers.js
index dd73aa7f8d..d99fd0db48 100644
--- a/scripts/system/libraries/controllers.js
+++ b/scripts/system/libraries/controllers.js
@@ -18,7 +18,7 @@ getGrabCommunications = function getFarGrabCommunications() {
 // this offset needs to match the one in libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp:378
 var GRAB_POINT_SPHERE_OFFSET = { x: 0.04, y: 0.13, z: 0.039 };  // x = upward, y = forward, z = lateral
 
-getGrabPointSphereOffset = function(handController) {
+getGrabPointSphereOffset = function(handController, ignoreSensorToWorldScale) {
     var offset = GRAB_POINT_SPHERE_OFFSET;
     if (handController === Controller.Standard.LeftHand) {
         offset = {
@@ -27,7 +27,11 @@ getGrabPointSphereOffset = function(handController) {
             z: GRAB_POINT_SPHERE_OFFSET.z
         };
     }
-    return Vec3.multiply(MyAvatar.sensorToWorldScale, offset);
+    if (ignoreSensorToWorldScale) {
+        return offset;
+    } else {
+        return Vec3.multiply(MyAvatar.sensorToWorldScale, offset);
+    }
 };
 
 // controllerWorldLocation is where the controller would be, in-world, with an added offset