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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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[multibody] Discrete MultibodyPlant uses sampled output ports #21623

Open jwnimmer-tri opened 4 days ago

jwnimmer-tri commented 4 days ago

Closes #20545.

(This was previously filed as #21597 but got too unwieldy.)

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