*
*   Robot name  : ABB S4 robots
*   Controller  : S4
*   Date create : 17 April 1996
*   Created by  : Volker Miegel
*
*   Comments:
*       This file is generic for all ABB robots simulated with RRS.
*       It just defines configuration and turns in order to force
*       specific rrs_config strings.
*
*   Description :
*
*
*
*       CONFIGURATION DATA:
*
*  configuration is composed of an overhead condition and two other
*  conditions for joints 5 & 6
*
   config_family		cf_over_head_90;
   joint_config_family j6	joint_cf_sin_pos;
   joint_config_family j5	joint_cf_pos;
   default_turns		j4 0 -180.0, j6 0 -180.0;
