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[CENIC] Land IcfBuilder in Drake #23914

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[CENIC] Land IcfBuilder in Drake#23914
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rpoyner-tri
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component: multibody plantMultibodyPlant and supporting codetype: feature request
@rpoyner-tri

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@rpoyner-tri
rpoyner-tri
opened on Dec 16, 2025

Prepare IcfBuilder for merge into drake master. Polish it to satisfy the usual platform review requirements.

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component: multibody plantMultibodyPlant and supporting codetype: feature request

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