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Hey gchisteThanks for the replay. The sphere works just fine, but when I bring my 3D mesh in, the whole mesh just messed up. I guess the order of joints affects the transform? However, when I use jointLocalTransforms in session(_:didUpdate) it seems works fine. Could I get a hint of why it's not working with 3D models?

Hey MaxThank you for your replay. So I guess I cannot set transform and position for the individual joint in a 3D model? Apple default robot.usdz for example, set the transform only for the left_upLeg_joint.