Hello @Vision Pro Engineer, fantastic code! I am using your code in order to grab a key and insert it in a door lock. When I put the key inside the hole, I would like to fix the key in that position and rotate it only on z axis. I tried two different approaches. For the first one, I added in the ImmersiveView this piece of code: _ = content.subscribe(to: CollisionEvents.Began.self, on: nil) { event in let entityA = event.entityA let entityB = event.entityB let modelEntity = entityB.findEntity(named: "Chiave_TriplaShape") as? ModelEntity if event.entityB.name == "Chiave_TriplaShape", var physicsBody = entityB.components[PhysicsBodyComponent.self], isInserted, !hasRotated { physicsBody.mode = .dynamic // Lock rotation by setting angular damping to a high value physicsBody.isTranslationLocked = (true, true, true) physicsBody.isRotationLocked = (true, true, false) entityB.components[PhysicsBodyComponent.self] = physicsBody } // insert the key in the unit and disabling dynamic mode if event.entityA.name == "ErlenmeyerFlask" && event.entityB.name == "Chiave_TriplaShape", !isInserted { entityB.transform.scale = SIMD3<Float>(x: 0.03, y: 0.03, z: 0.03) entityB.transform.rotation = simd_quatf(real: 0.5963677, imag: SIMD3<Float>(0.59636784, 0.37992808, -0.3799282)) entityB.transform.translation = SIMD3<Float>(x: 0.52, y: 1, z: -0.7) if var physicsBody = entityB.components[PhysicsBodyComponent.self] { physicsBody.mode = .kinematic entityB.components.set(physicsBody) } isInserted = true } if modelEntity == nil { return } entityA.components[ThrowByHandComponent.self]?.entityCollidedWith = modelEntity } For the second approach, I tried instead to add this piece of code in update function of ThrowByHandSystem: let lastHandPose = component.lastHandPose print(component.entityCollidedWithIsInserted) if lastHandPose != handPose, let entityCollidedWith = component.entityCollidedWith { if handPose == .closed { entityCollidedWith.components[PhysicsBodyComponent.self]?.mode = .kinematic component.entityCollidedWithPreviousParent = entity.parent entity.addChild(entityCollidedWith, preservingWorldTransform: true) } else if handPose == .closed, component.entityCollidedWithIsInserted, !component.entityCollidedWithIsRotated, let lastOrientation = component.lastOrientation { let rotation = currentOrientation * simd_inverse(lastOrientation) let angularSpeed = rotation.angle / Float(context.deltaTime) let angularForceMultiplier: Float = 2.0 let isRotating = rotation.angle > Float.pi / 2 let angularImpulse = isRotating ? normalize(rotation.axis) * angularSpeed * angularForceMultiplier : [0, 0, 0] entityCollidedWith.components[PhysicsBodyComponent.self]?.mode = .dynamic component.entityCollidedWithPreviousParent?.addChild(entityCollidedWith, preservingWorldTransform: true) component.entityCollidedWithPreviousParent = nil entityCollidedWith.applyAngularImpulse(angularImpulse, relativeTo: nil) } else if handPose == .open, let lastPosition = component.lastPosition { let distance = distance(lastPosition, currentPosition) let speed = distance / Float(context.deltaTime) let forceMultiplier: Float = 2.0 let isStationary = distance < 0.01 let throwDirection = isStationary ? [0, 0, 0] : normalize(currentPosition - lastPosition) let linearImpulse = throwDirection * speed * forceMultiplier entityCollidedWith.components[PhysicsBodyComponent.self]?.mode = .dynamic component.entityCollidedWithPreviousParent?.addChild(entityCollidedWith, preservingWorldTransform: true) component.entityCollidedWithPreviousParent = nil entityCollidedWith.applyLinearImpulse(linearImpulse, relativeTo: nil) } } component.lastHandPose = handPose } Neither of the two approaches seems to work. Do you have any suggestions? Thank you very much!