Child colliders of parent rigidbodies in ECS

I’m moving an existing project to ECS, and running into an issue with colliders. I’m generating creatures at runtime out of prefabs, and attaching ‘body part’ prefabs as child objects of a parent ‘creature’ prefab. The creature has a rigidbody but no colliders, and the body parts have colliders but no rigidbody. When using GameObjects, this works fine, as colliders belong to their parent rigidbody. In ECS, though, child colliders don’t seem to work, and need to be moved to the same entity as the rigidbody (e.g. PhysicsMass and PhysicsVelocity). Is there a suggested way to get this working?