I have a very simple drawing of LiveKit.io logo that is about 4"x4"x4" that is sitting almost on the origin. It is about 6 rectangles. See the attached project.
I am trying to just view it in the camera as AR but it just sits on the screen that says move your iPad. Here is a short video of what I am doing. I tried it for >10 minutes and never put the object on the surface so I can view it.