diff --git a/examples/stick-hydra.js b/examples/stick-hydra.js
new file mode 100644
index 0000000000..42ac6c6cda
--- /dev/null
+++ b/examples/stick-hydra.js
@@ -0,0 +1,73 @@
+//  stick.js
+//  examples
+//
+//  Created by Seth Alves on 2015-6-10
+//  Copyright 2015 High Fidelity, Inc.
+//
+//  Allow avatar to hold a stick
+//
+//  Distributed under the Apache License, Version 2.0.
+//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
+//
+
+var hand = "left";
+var nullActionID = "00000000-0000-0000-0000-000000000000";
+var controllerID;
+var controllerActive;
+var stickID = null;
+var actionID = nullActionID;
+var makingNewStick = false;
+
+function makeNewStick() {
+    if (makingNewStick) {
+        return;
+    }
+    makingNewStick = true;
+    cleanUp();
+    // sometimes if this is run immediately the stick doesn't get created?  use a timer.
+    Script.setTimeout(function() {
+        stickID = Entities.addEntity({
+            type: "Model",
+            name: "stick",
+            modelURL: "https://hifi-public.s3.amazonaws.com/eric/models/stick.fbx",
+            compoundShapeURL: "https://hifi-public.s3.amazonaws.com/eric/models/stick.obj",
+            dimensions: {x: .11, y: .11, z: 1.0},
+            position: MyAvatar.getRightPalmPosition(), // initial position doesn't matter, as long as it's close
+            rotation: MyAvatar.orientation,
+            damping: .1,
+            collisionSoundURL: "http://public.highfidelity.io/sounds/Collisions-hitsandslaps/67LCollision07.wav",
+            restitution: 0.01,
+            collisionsWillMove: true
+        });
+        actionID = Entities.addAction("hold", stickID,
+                                      {relativePosition: {x: 0.0, y: 0.0, z: -0.5},
+                                       relativeRotation: Quat.fromVec3Degrees({x: 0.0, y: 90.0, z: 0.0}),
+                                       hand: hand,
+                                       timeScale: 0.15});
+        if (actionID == nullActionID) {
+            cleanUp();
+        }
+        makingNewStick = false;
+    }, 3000);
+}
+
+
+function cleanUp() {
+    if (stickID) {
+        Entities.deleteEntity(stickID);
+        stickID = null;
+    }
+}
+
+
+function initControls(){
+    if (hand == "right") {
+        controllerID = 3; // right handed
+    } else {
+        controllerID = 4; // left handed
+    }
+}
+
+
+Script.scriptEnding.connect(cleanUp);
+makeNewStick();
diff --git a/interface/src/avatar/AvatarActionHold.cpp b/interface/src/avatar/AvatarActionHold.cpp
index c28032ddde..97d679f94b 100644
--- a/interface/src/avatar/AvatarActionHold.cpp
+++ b/interface/src/avatar/AvatarActionHold.cpp
@@ -61,11 +61,9 @@ void AvatarActionHold::updateActionWorker(float deltaTimeStep) {
         palmRotation = myAvatar->getLeftPalmRotation();
     }
 
-    auto rotation = myAvatar->getWorldAlignedOrientation();
+    auto rotation = palmRotation * _relativeRotation;
     auto offset = rotation * _relativePosition;
     auto position = palmPosition + offset;
-    rotation *= palmRotation;
-    rotation *= _relativeRotation;
     unlock();
 
     if (!tryLockForWrite()) {
diff --git a/interface/src/avatar/MyAvatar.cpp b/interface/src/avatar/MyAvatar.cpp
index 1a900d6afd..79c600b7ec 100644
--- a/interface/src/avatar/MyAvatar.cpp
+++ b/interface/src/avatar/MyAvatar.cpp
@@ -372,16 +372,9 @@ glm::vec3 MyAvatar::getLeftPalmPosition() {
 }
 
 glm::quat MyAvatar::getLeftPalmRotation() {
-    unsigned int leftIndex = 0;
-    if (getHand()->getNumPalms() > leftIndex) {
-        PalmData& palm = getHand()->getPalms()[leftIndex];
-        if (palm.isActive()) {
-            glm::vec3 tipDirection = glm::normalize(palm.getTipPosition() - palm.getPosition());
-            glm::vec3 avatarDirection = glm::vec3(0.0f, 0.0f, 1.0f) * getOrientation();
-            return rotationBetween(avatarDirection, tipDirection);
-        }
-    }
-    return glm::quat();
+    glm::quat leftRotation;
+    getSkeletonModel().getJointRotationInWorldFrame(getSkeletonModel().getLeftHandJointIndex(), leftRotation);
+    return leftRotation;
 }
 
 glm::vec3 MyAvatar::getRightPalmPosition() {
@@ -394,16 +387,9 @@ glm::vec3 MyAvatar::getRightPalmPosition() {
 }
 
 glm::quat MyAvatar::getRightPalmRotation() {
-    unsigned int rightIndex = 1;
-    if (getHand()->getNumPalms() > rightIndex) {
-        PalmData& palm = getHand()->getPalms()[rightIndex];
-        if (palm.isActive()) {
-            glm::vec3 tipDirection = glm::normalize(palm.getTipPosition() - palm.getPosition());
-            glm::vec3 avatarDirection = glm::vec3(0.0f, 0.0f, 1.0f) * getOrientation();
-            return rotationBetween(avatarDirection, tipDirection);
-        }
-    }
-    return glm::quat();
+    glm::quat rightRotation;
+    getSkeletonModel().getJointRotationInWorldFrame(getSkeletonModel().getRightHandJointIndex(), rightRotation);
+    return rightRotation;
 }
 
 void MyAvatar::clearReferential() {