如何在Swift中以编程方式旋转USDZ文件中的3D模型？

import ARKit
import SceneKit

let arView = ARSCNView()
arView.delegate = self

guard let modelURL = Bundle.main.url(forResource: "model", withExtension: "usdz") else { return }
let modelScene = try! SCNScene(url: modelURL, options: nil)
let modelNode = modelScene.rootNode.childNode(withName: "model", recursively: true)

arView.scene.rootNode.addChildNode(modelNode)

func renderer(_ renderer: SCNSceneRenderer, didAdd node: SCNNode, for anchor: ARAnchor) {
    guard anchor is ARImageAnchor else { return }
    
    // 旋转模型
    modelNode?.runAction(SCNAction.repeatForever(SCNAction.rotateBy(x: 0, y: 1, z: 0, duration: 5)))
}