Our colleagues Marek Hrúz, Jakub Kanis, and Zdeněk Krňoul won the HANDS19 Challenge Task 2. HANDS19 Challenge is a public competition designed for the evaluation of the task of 3D hand pose estimation in both depth and color modalities in the presence and absence of objects. The goal of Task 2 is depth-based 3D Hand Pose Estimation while Interacting with Objects: This task builds on F-PHAB dataset. Objects appear to be manipulated by a subject in an egocentric viewpoint. Some hand shapes and objects are strategically excluded from the training set in order to measure the interpolation and extrapolation capabilities of submissions. The first prize was announced and presented at a workshop held at the International Conference on Computer Vision (ICCV) 2019.