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The big idea here is: 1. `desiredCapConstraints` should always contain the constraints _for that driver_; it no longer contains the "base" constraints. This is the only thing that really required any logic changes (though they are somewhat spread out). The "merged" constraints object is available via `_desiredCapConstraints`. 2. `Capabilities` and W3C-style `W3CCapabilities` are now _derived from_ constraints. This absolves us (and extension authors) from needing to create an interface describing their capabilities. 3. Changes to caps and constraints now reflect in `DriverOpts` (`this.opts`) in drivers 4. `caps` and `originalCaps` declarations have moved from `Core` to `Driver` 5. TypeScript compiles the JS output from `@appium/types` (which is just a static "constraints" object) Resolves #17518