I have asked the same question, short of saving the data myself I am not coming up with a better way to do this.
kimate
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Create an entity and then install gesturesforentity
arView.installGestures(.all, for: myEntity)
I am wondering if the same thing is possible for hand joints in a non-skeleton or any joints that are not bodyanchors? I will try this same approach and let you know if it works. If you know how to update a joint already I will gladly pay the courtesy forward.
Sorry I am late but create a an ARSession delegate