Fixed Joint between wall and switch body
Revolute Joint between the switch body, and the switch itself
Revolute Joint between the switch and the wall
Adjusted stiffness and damping values
Added/Removed articulation root to wall and switch body
When using code to create a fixed joint between wall1 and the switch body, say at local pos 0,0,0, upon pressing PLAY, the joint spawns/flies off elsewhere
On my end, it seems like the geometry of the switch in the usd file prevents it from properly rotating with colliders enabled as it either collides with the housing or the wall behind. Toward the end of simulating a switch to open a door, would a contact sensor work for your use case? If you need the switch to physically move, as I believe this might require a differently designed usd.
