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                                            Kian Molani

Add translational library

This PR is linked to issue #84

[MultiBody] Add 2D rigid body

[MultiBody] Add reference frames and gravity fields

Add a revolute joint component

Add a world frame object

Add a 2D rigid body component

This issue will focus on creating a 1D or 2D rigid body line or box. Said rigid body will initially be constructed in a 2D absolute reference frame / world...