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allows frame names to be used, such that frames (not just bodies) can be tracked.\r\n\r\n<!-- Reviewable:start -->\r\n---\r\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/8085)\r\n<!-- Reviewable:end -->\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/366860262","html_url":"https://github.com/RobotLocomotion/drake/pull/8085#issuecomment-366860262","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8085","id":366860262,"user":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars1.githubusercontent.com/u/4088016?v=4","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2018-02-20T03:54:59Z","updated_at":"2018-02-20T03:54:59Z","author_association":"MEMBER","body":"\n\n\n\nReviewed 2 of 2 files at r6.\nReview status: all files reviewed at latest revision, all discussions resolved, some commit checks failed.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/8085)*\n<!-- Sent from Reviewable.io -->\n"}}
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