= Differences between boxturtle and cturtle urdf files =
== URDF ==
 * gripper: added parallel links '''[rl]_gripper_[rl]_parallel_link''' and corresponding '''[rl]_gripper_[rl]_parallel_root_joint''' connecting parallel links to gripper palms (for gazebo, tip joints are added in gazebo extension '''[rl]_gripper_[rl]_parallel_tip_joint''' connecting parallel link to finger tips).  The two new urdf joints '''[rl]_gripper_[rl]_parallel_root_joint''' have their states published by the gripper transmission for proper rendering in rviz.  This means '''joint_states''' vector is larger by 4.
 * gripper floating link: todo: I would like to add the floating pads in the gripper, these are not modeled currently.
== Meshes ==
 * Collision geometries made of simple geometric primitives are replaced by low resolution stl beta meshes.
   * base_link collision: box --> base_L.stl
   * [...]_caster_link: box --> caster_L.stl
   * torso_lift_link: box --> torso_lift_L.stl
   * head_pan_link: box --> head_pan_L.stl
   * head_tilt_link: box --> head_tilt_L.stl
   * tilting_laser_mount_link: box --> tilting_hokuyo_L.stl
   * [lr]_upper_arm_roll_link: box --> upper_arm_roll_L.stl
   * [lr]_forearm_roll_link: box --> forearm_roll_L.stl
   * [lr]_wrist_roll_link: box --> wrist_roll_L.stl
 * boxturtle contains a few convexified meshes which we are doing away with in cturtle (efficiency no longer a concern).  In fact, cturtle do not use any [[convex_decomposition|convex_decomposed]] meshes:
 {{{
# urdf/upper_arm_v0/upper_arm.urdf.xacro:          <mesh filename="package://pr2_description/meshes/upper_arm_v0/convex/upper_arm_convex.stlb" />
# urdf/upper_arm_v0/upper_arm.urdf.xacro:          <mesh filename="package://pr2_description/meshes/upper_arm_v0/convex/elbow_flex_convex.stlb" />
# urdf/forearm_v0/forearm.urdf.xacro:          <mesh filename="package://pr2_description/meshes/forearm_v0/convex/forearm_convex.stlb" />
# urdf/forearm_v0/forearm.urdf.xacro:          <mesh filename="package://pr2_description/meshes/forearm_v0/convex/wrist_flex_convex.stlb" />
# urdf/shoulder_v0/shoulder.urdf.xacro:          <mesh filename="package://pr2_description/meshes/shoulder_v0/convex/shoulder_yaw_convex.stlb" />
# urdf/shoulder_v0/shoulder.urdf.xacro:          <mesh filename="package://pr2_description/meshes/shoulder_v0/convex/shoulder_lift_convex.stlb" />
 }}}
 * boxturtle uses specialized finger tip collision meshes (visual meshes are the same) which are no longer used in cturtle:
 {{{
urdf/gripper_v0/gripper.urdf.xacro:          <mesh filename="package://pr2_description/meshes/gripper_v0/finger_tip_pad2_l.stl" />
urdf/gripper_v0/gripper.urdf.xacro:          <mesh filename="package://pr2_description/meshes/gripper_v0/finger_tip_pad2_r.stl" />
 }}}
 * name changes for consistency with general urdf naming scheme for links.  Below is a list of changes from boxturtle --> cturtle
   * pr2_wheel.stl --> wheel.stl
   * shoulder_yaw.stl --> shoulder_pan.stl
   * hok_tilt.stl --> tilting_hokuyo.stl
   * finger_l.stl --> l_finger.stl
   * finger_tip_l.stl l_finger_tip.stl
   * torso.stl --> torso_lift.stl
 * besides renaming hok_tilt.stl to tilting_hokuyo.stl, cturtle also uses a low resolution mesh `tilting_hokuyo_L.stl` for collision of tilting laser.
 * boxturtle uses distinct left/right fingers (finger_[lr]/finger_tip_[lr]) meshes whereas cturtle only uses only left finger (l_finger/l_finger_tip) meshes and flips them around 180 degrees about x axis for right fingers.
 {{{
urdf/gripper_v0/gripper.urdf.xacro:          <mesh filename="package://pr2_description/meshes/gripper_v0/upper_finger_r.stl" />
urdf/gripper_v0/gripper.urdf.xacro:          <mesh filename="package://pr2_description/meshes/gripper_v0/upper_finger_r.stl" />
urdf/gripper_v0/gripper.urdf.xacro:          <mesh filename="package://pr2_description/meshes/gripper_v0/finger_tip_r.stl" />
 }}}