Hi, thank you for your reply! I just pushed up the latest changes that include our model. My apologies on that. We recently found that our origin was at the elbow joint so we have moved it to the wrist area. So issue 1 should be resolved. For issue 2 we have mapped out each of the joints to their name. Our hierarchy should be the same as the model as well. We did notice that the skeleton structures were different almost inverted. I have uploaded a picture that details the space glove skeleton on the left and our hand model on the right. If you get a chance can you take a look now that the files have been updated.