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HAPTIX / handsim motion capture axes are mixed up

I'm running Handsim 0.8.3 on a linux box, with a separate Windows box running Motive and connected as per the documentation. I can send mocap signals from the Optitrack to the Linux machine, but when Gazebo is running, moving my native arm up moves the virtual limb forward, and other axes are mixed up. How do I fix this?