Equivalent in RealityKit of SceneKit's SCNAction.customAction to run custom animation

Graphics & Games RealityKit
Nickkk OP
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I'm currently converting my game from SceneKit to RealityKit. What's the easiest way to run an animation in which every frame I want to run custom code, similar to SCNAction.customAction which accepts a callback that is called repeatedly until the action completes?

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Equivalent in RealityKit of SceneKit's SCNAction.customAction to run custom animation
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