ARkit x Collada : How to rig a multi-body structure.

For TLDR, jump straight to Solution.

Eye candy.

Problem

You cannot successfully export a multi-skeletal structure to as a Collada dae. You will get this error in XCode:

Theory

Create a single skeleton structure, and bind individual joints to individual bodies.

Solution

Let say your joint structure looks like this:

You need to select a joint chain (such as that below) and a body, and bind them:

And then select the second joint chain and body and bind them:

Et Voila. You can now export it.

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