Given any connected poset $P$, we give a simple realization of Galashin's poset associahedron $\mathscr{A}(P)$ as a convex polytope in $\mathbb{R}^P.$ The realization is inspired by the description of $\mathscr{A}(P)$ as a compactification of the configuration space of order-preserving maps $P \to \mathbb{R}.$ In addition, we give an analogous realization for Galashin's affine poset cyclohedra.