Confirmed here, I'm seeing exactly the same thing. M1 MBP, Xcode 13b3 on Big Sur.
rkeniger
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I found the solution here.
You need to allow static entities (i.e. the world mesh) to trigger collisions with kinematic entities (i.e. the fingertip entity). You do this by adding a physics simulation component to a parent entity (i.e. the root entity of your scene) and setting the appropriate collision option.
var physicsSim = PhysicsSimulationComponent()
physicsSim.collisionOptions.insert(.reportKinematicVsStatic)
contentEntity.components.set(physicsSim)
Oh - I love this. Thank you for sharing @JoonAhn.