Cenic joint locking dev#24387
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rpoyner-tri wants to merge 3 commits intoRobotLocomotion:masterfrom
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There's a small provocation in here. I noticed that the diagram handling inside CenicIntegrator could pretty easily generalize from "plant inside 1 or more diagrams" to "plant inside 0 diagrams". This is not a tremendously useful configuration for users, but might turn out to be very helpful for adapting existing test suites of plant-centric features.
This change is