Robot ct_quadrotor

Frames {
    fr_body, fr_link1, fr_link2, fr_com0, fr_com1, fr_ee
}

Transforms {
	base=fr_body, target=fr_link1
	base=fr_body, target=fr_link2
    	base=fr_body, target=fr_ee
    	base=fr_body, target=fr_com0
    	base=fr_body, target=fr_com1
    	base=fr_link1, target=fr_body
	base=fr_link2, target=fr_body
    	base=fr_ee, target=fr_body
    	base=fr_com0, target=fr_body
    	base=fr_com1, target=fr_body
}

Jacobians {
	base=fr_body, target=fr_ee
}
