Russ Tedrake

wait... why do you want to use this function? I actually don't like that function; and thought it was only there for testing purposes?

The function was initially introduced because David was PR'ing an implementation-only change (no API change, no functionality change), citing that the problem formulation got smaller, and we wanted a strategy...

See this (TRI internal) [slack discussion](https://tri-internal.slack.com/archives/C02KXJ6LM54/p1697896461793729) for discussion about the extent to which we want to support "the legacy, non-standard, MuJoCo texture projection".

#21666 resolves some errors. I've just done a complete sweep through the menagerie and made a detailed list of errors/warnings above.

*[`systems/controllers/inverse_dynamics.cc` line 34 at r1](https://reviewable.io/reviews/RobotLocomotion/drake/20971#-Nqyykuh6rzY795cf64J:-Nr02DVVCbxn5YDG_O6Z:btsksz9) ([raw file](https://github.com/RobotLocomotion/drake/blob/1ecdae0817e1b4e6c5af5a87925a8e8f905c97dc/systems/controllers/inverse_dynamics.cc#L34)):* Previously, RussTedrake (Russ Tedrake) wrote… Easy to do. What do you think about even moving it into MultibodyPlant? e.g. ``` /// Creates the...

Previously, RussTedrake (Russ Tedrake) wrote… Thanks. Yes, we have quite a mess here. Let's try to get it right. 1) the name `InverseDynamics` suggests to me that the result of...

I don't believe that's accurate. ConvexConfigurationSpace is a good test. In #20974, I added a small additional check to that test in an attempt to cover the new `mixing_steps` option,...

All sounds good to me! Except perhaps that if I set `use_gain_ports=true`, I would expect that I am _definitely_ using the input ports, not optionally. `make_gain_ports` or something similar seems...

All of those proposals seem reasonable to me. Thank you. It might be important to understand how @shaoyuancc ran into this in the first place? Was it from inside an...

That example is available in `reproduction/prm_comparison`. I think this issue can be closed (but I don't have the bits to do it yet).