* 
*   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 ;

