How to get Child Nodes position using Scenekit - ARKit in iOS 11?

I am working on a AR based application. I am using https://docs-assets.developer.apple.com/published/c5ad3d23f4/Handling3DInteractionandUIControlsinAugmentedReality.zip as example. I am trying to implement a overlay over each child node of a 3D object with text description of the same.

For that i tried to get the position of each child node. For example, if we take chair object in the apple's sample, when i look into Xcode scene editor all the child nodes are placed in same position. How to get the center position of a child node in this case? For example if i have to get the approx. position of the chair's legs, how to do that?