I know I've said it before but I find it unnecessary for the user to make the visualization frames on their own. They could easily just forget to add one of the bodies in their multibody system. I imagine something like this:

```python
scene = Scene('scene1', KanesMethod) # assuming Kane's Method knows about inertial frame.
# This will initialize a VisualizationFrame for each rigid body, with names <body_name>
print scene.vframe['link1']
scene.vframe['link1'].shape = shape1
scene.vframe['link2'].shape = shape2
scene.vframe['link3'].shape = shape3
```