A fix that keeps complex simulations stable: RealityKit expects physics entities in a “flat” hierarchy — every body a direct child of the root — rather than the nested tree a classical dynamics derivation suggests. After restructuring the model assembly, simulations of complex URDF robots no longer “blow up,” even in spatial reality mode.
Key points
- Flattened entity hierarchy for RealityKit physics
- Stable simulation of complex, multi-level models
- Works in spatial AR mode
Learn how links and joints define the model tree in Joints and Links.