Sanjeev

[Question] Why Robot Articulation not starting at default joint configuration, when simulation is running

1

### Question I have observed one thing: although we initialize the default position of the robot in the configuration file, **for ex:** [FRANKA_PANDA_ARM_WITH_PANDA_HAND_CFG](https://github.com/NVIDIA-Omniverse/Orbit/blob/main/source/extensions/omni.isaac.orbit/omni/isaac/orbit/robots/config/franka.py), it does not start in the same...

Pretrained Weights for Pytorch Version of Online Tapir/BootsTapir

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Could you please upload the pretrained weights for the PyTorch version of online Tapir/BootsTapir, if available? or could you recommend how we can utilize the PyTorch implementation of Tapir/BootsTapir in...

Export pid gains as reference

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This PR includes the following changes: - Added a new parameter` export_gain_references` to enable or disable the export of gains (p, i, d) as references. - Updated the `update_and_write_commands `function...

Update Odometry implementation in tricycle_controller

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This issue is part of the general roll-out suggested in #2039 to update odometry calculation across all controllers. The [tricycle_controller::Odometry](https://github.com/ros-controls/ros2_controllers/blob/36cfca806a1e308c1e7d40404254c49b9964599a/tricycle_controller/src/odometry.cpp) needs to be updated to follow the updated API and...