I'm trying to achieve a similar behaviour to the native AR preview app on iOS when we can place a model and once we move or rotate it, it automatically detects the obstacles and gives a haptic feedback, and doesn't go through the walls. I'm using the devices with LiDAR only. Here is what I have so far: Session setup private func configureWorldTracking() { let configuration = ARWorldTrackingConfiguration() configuration.planeDetection = [.horizontal, .vertical] configuration.environmentTexturing = .automatic if ARWorldTrackingConfiguration.supportsSceneReconstruction(.meshWithClassification) { configuration.sceneReconstruction = .meshWithClassification } let frameSemantics: ARConfiguration.FrameSemantics = [.smoothedSceneDepth, .sceneDepth] if ARWorldTrackingConfiguration.supportsFrameSemantics(frameSemantics) { configuration.frameSemantics.insert(frameSemantics) } session.run(configuration) session.delegate = self arView.debugOptions.insert(.showSceneUnderstanding) arView.renderOptions.insert(.disableMotionBlur) arView.environment.sceneUnderstanding.options.insert([.collision, .physics, .receivesLighting, .occlusion]) } Custom entity: class CustomEntity: Entity, HasModel, HasCollision, HasPhysics { var modelName: String = "" private var cancellable: AnyCancellable? init(modelName: String) { super.init() self.modelName = modelName self.name = modelName load() } required init() { fatalError("init() has not been implemented") } deinit { cancellable?.cancel() } func load() { cancellable = Entity.loadModelAsync(named: modelName + ".usdz") .sink(receiveCompletion: { result in switch result { case .finished: break case .failure(let failure): debugPrint(failure.localizedDescription) } }, receiveValue: { modelEntity in modelEntity.generateCollisionShapes(recursive: true) self.model = modelEntity.model self.collision = modelEntity.collision self.collision?.filter.mask.formUnion(.sceneUnderstanding) self.physicsBody = modelEntity.physicsBody self.physicsBody?.mode = .kinematic }) } Entity loading and placing let tapLocation = sender.location(in: arView) guard let raycastResult = arView.raycast(from: tapLocation, allowing: .estimatedPlane, alignment: .horizontal).first else { return } let entity = CustomEntity(modelName: modelName) let anchor = AnchorEntity(world: raycastResult.worldTransform) anchor.name = entity.name anchor.addChild(entity) arView.scene.addAnchor(anchor) arView.installGestures([.rotation, .translation], for: entity) This loads my model properly and allows me to move it and rotate as well, but I cannot figure out how to handle the collision handling with the real environment like walls and interrupt gestures once my model starts going thought it?