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Most significant changes are: 1) RigidFrame renamed to PhysicalFrame,; 2) no caching of intermediate frames from outboard most OffsetFrame (previously FixedFrame) to MobilizedBody, and 3) OffsetFrame is a Mixin class that any Frame type to be extended by an Offset and retain its type. This will avoid having to re-implement Offset for every Frame type, but more importantly it lets us treat OffsetFrame<PhysicalFrame> as a PhysicalFrame. 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