diff --git a/libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp b/libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp
index 9d91b5b5e6..099e48dcd0 100644
--- a/libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp
+++ b/libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp
@@ -376,9 +376,10 @@ void HmdDisplayPlugin::updateFrameData() {
         }
 
         // this offset needs to match GRAB_POINT_SPHERE_OFFSET in scripts/system/libraries/controllers.js
-        //static const vec3 GRAB_POINT_SPHERE_OFFSET = vec3(0.1f, 0.04f, -0.32f);
-        static const vec3 GRAB_POINT_SPHERE_OFFSET = vec3(0.0f, 0.0f, -0.175f);
-        vec3 grabPointOffset = GRAB_POINT_SPHERE_OFFSET;
+        static const vec3 GRAB_POINT_SPHERE_OFFSET(0.075f, 0.175f, 0.039f);
+
+        // swizzle grab point so that (x = upward, y = inward, z = forward)
+        vec3 grabPointOffset = glm::vec3(GRAB_POINT_SPHERE_OFFSET.x, GRAB_POINT_SPHERE_OFFSET.z, -GRAB_POINT_SPHERE_OFFSET.y);
         if (i == 0) {
             grabPointOffset.x *= -1.0f; // this changes between left and right hands
         }
diff --git a/libraries/shared/src/GLMHelpers.cpp b/libraries/shared/src/GLMHelpers.cpp
index 0c02cd5b03..3520a4dc44 100644
--- a/libraries/shared/src/GLMHelpers.cpp
+++ b/libraries/shared/src/GLMHelpers.cpp
@@ -34,7 +34,9 @@ const vec3& Vectors::UP = Vectors::UNIT_Y;
 const vec3& Vectors::FRONT = Vectors::UNIT_NEG_Z;
 
 const quat Quaternions::IDENTITY{ 1.0f, 0.0f, 0.0f, 0.0f };
+const quat Quaternions::X_180{ 0.0f, 1.0f, 0.0f, 0.0f };
 const quat Quaternions::Y_180{ 0.0f, 0.0f, 1.0f, 0.0f };
+const quat Quaternions::Z_180{ 0.0f, 0.0f, 0.0f, 1.0f };
 
 //  Safe version of glm::mix; based on the code in Nick Bobick's article,
 //  http://www.gamasutra.com/features/19980703/quaternions_01.htm (via Clyde,
diff --git a/libraries/shared/src/GLMHelpers.h b/libraries/shared/src/GLMHelpers.h
index 898dfa873d..4aac913768 100644
--- a/libraries/shared/src/GLMHelpers.h
+++ b/libraries/shared/src/GLMHelpers.h
@@ -58,7 +58,9 @@ glm::quat safeMix(const glm::quat& q1, const glm::quat& q2, float alpha);
 class Quaternions {
  public:
     static const quat IDENTITY;
+    static const quat X_180;
     static const quat Y_180;
+    static const quat Z_180;
 };
 
 class Vectors {
diff --git a/plugins/openvr/src/OpenVrHelpers.cpp b/plugins/openvr/src/OpenVrHelpers.cpp
index 13880af89f..a3573187ab 100644
--- a/plugins/openvr/src/OpenVrHelpers.cpp
+++ b/plugins/openvr/src/OpenVrHelpers.cpp
@@ -299,10 +299,11 @@ controller::Pose openVrControllerPoseToHandPose(bool isLeftHand, const mat4& mat
     static const glm::quat leftRotationOffset = glm::inverse(leftQuarterZ * eighthX) * touchToHand;
     static const glm::quat rightRotationOffset = glm::inverse(rightQuarterZ * eighthX) * touchToHand;
 
-    static const float CONTROLLER_LENGTH_OFFSET = 0.0762f;  // three inches
-    static const glm::vec3 CONTROLLER_OFFSET = glm::vec3(CONTROLLER_LENGTH_OFFSET / 2.0f,
-        CONTROLLER_LENGTH_OFFSET / 2.0f,
-        CONTROLLER_LENGTH_OFFSET * 2.0f);
+    static const float CONTROLLER_X_OFFSET = 0.0381f; // sideways
+    static const float CONTROLLER_Y_OFFSET = 0.0495f; // forwards
+    static const float CONTROLLER_Z_OFFSET = 0.1371f; // upwards
+    static const glm::vec3 CONTROLLER_OFFSET(CONTROLLER_X_OFFSET, CONTROLLER_Y_OFFSET, CONTROLLER_Z_OFFSET);
+
     static const glm::vec3 leftTranslationOffset = glm::vec3(-1.0f, 1.0f, 1.0f) * CONTROLLER_OFFSET;
     static const glm::vec3 rightTranslationOffset = CONTROLLER_OFFSET;
 
diff --git a/scripts/system/controllers/handControllerGrab.js b/scripts/system/controllers/handControllerGrab.js
index e2a982b308..7ae14ce381 100644
--- a/scripts/system/controllers/handControllerGrab.js
+++ b/scripts/system/controllers/handControllerGrab.js
@@ -111,7 +111,7 @@ var NEAR_GRABBING_KINEMATIC = true; // force objects to be kinematic when near-g
 var CHECK_TOO_FAR_UNEQUIP_TIME = 0.3; // seconds, duration between checks
 
 
-var GRAB_POINT_SPHERE_RADIUS = NEAR_GRAB_RADIUS;
+var GRAB_POINT_SPHERE_RADIUS = NEAR_GRAB_RADIUS * 1.5;
 var GRAB_POINT_SPHERE_COLOR = { red: 240, green: 240, blue: 240 };
 var GRAB_POINT_SPHERE_ALPHA = 0.85;
 
diff --git a/scripts/system/libraries/controllers.js b/scripts/system/libraries/controllers.js
index 8b5c1bc2fb..5b3c3882d4 100644
--- a/scripts/system/libraries/controllers.js
+++ b/scripts/system/libraries/controllers.js
@@ -21,7 +21,7 @@ getGrabCommunications = function getFarGrabCommunications() {
 // var GRAB_POINT_SPHERE_OFFSET = { x: 0.1, y: 0.32, z: 0.04 };
 
 // this offset needs to match the one in libraries/display-plugins/src/display-plugins/hmd/HmdDisplayPlugin.cpp
-var GRAB_POINT_SPHERE_OFFSET = { x: 0.0, y: 0.175, z: 0.0 };
+var GRAB_POINT_SPHERE_OFFSET = { x: 0.075, y: 0.175, z: 0.039 };  // x = upward, y = forward, z = inward
 
 getGrabPointSphereOffset = function(handController) {
     if (handController === Controller.Standard.RightHand) {