* 
*   Robot name  : ABB S4 robots 
*   Controller  : S4 
*   Date create : 17 April 1996 
*   Created by  : Volker Miegel 
*   Update      : Sep 2009, config_family updated, Volker Miegel 
*   Update      : Nov 2011, joint_cf_elbow_up updated, 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_neg; 
   joint_config_family  j3      joint_cf_elbow_up; 
   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 ; 