@moorepants So how about a method on Scene that automatically generates a VFrame for each rigid body; it's optional to construct the scene this way:

```python
scene = Scene('myAwesomeScene')
scene.from_mutibody_system([rb1, rb2]) # rb1's name is 'rb1', rb2's name is 'rb2'
```

creates:
```python
scene.visualization_frames['rb1']
scene.visualization_frames['rb2']
```

I don't think `from_multibody_system` is the best name for this method.

Then the more manual way of doing this could be:
```python
scene.add_visualization_frame(VisualizationFrame(rb1))
```