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[CENIC] External systems gradients computation #23918

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[CENIC] External systems gradients computation#23918
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jwnimmer-tri
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component: multibody plantMultibodyPlant and supporting codepriority: medium
@amcastro-tri

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@amcastro-tri
amcastro-tri
opened on Dec 17, 2025

Computation of gradients wrt generalized velocities, for systems externally connected to the plant.

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component: multibody plantMultibodyPlant and supporting codepriority: medium

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