Remove instances of RE2

ros1/README.md

@@ -5,7 +5,7 @@
 
 Despite the name, ROS is not an operating system. ROS is a middleware framework that is a collection of transport protocols, development and debugging tools, and open-source packages. As a transport protocol, ROS enables distributed communication via messages between nodes. As a development and debugging toolkit, ROS provides build systems that allows for writing applications in a wide variety of languages (Python and C++ are used in this tutorial track), a launch system to manage the execution of mutiple nodes simultaneously, and command line tools to interact with the running system. Finally, as a popular ecosystem, there are many open-source ROS packages that allow users to quickly prototype with new sensors, actuators, planners, perception stacks, and more.
 
-This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS Noetic. We recommend going through the tutorials in the following order:
+This tutorial track is for users looking to get familiar with programming Stretch robots via ROS. We recommend going through the tutorials in the following order:
 
 ## Basics
 

ros2/README.md

@@ -7,7 +7,7 @@ NOTE: Stretch's ROS2 packages and this ROS2 tutorial track are both under active
 
 Despite the name, ROS is not an operating system. ROS is a middleware framework that is a collection of transport protocols, development and debugging tools, and open-source packages. As a transport protocol, ROS enables distributed communication via messages between nodes. As a development and debugging toolkit, ROS provides build systems that allows for writing applications in a wide variety of languages (Python and C++ are used in this tutorial track), a launch system to manage the execution of mutiple nodes simultaneously, and command line tools to interact with the running system. Finally, as a popular ecosystem, there are many open-source ROS packages that allow users to quickly prototype with new sensors, actuators, planners, perception stacks, and more.
 
-This tutorial track is for users looking to become familiar with programming the Stretch RE1 and RE2 via ROS 2. We recommend going through the tutorials in the following order:
+This tutorial track is for users looking to get familiar with programming Stretch robots via ROS 2. We recommend going through the tutorials in the following order:
 
 ## Basics
 

stretch_body/README.md

@@ -1,6 +1,6 @@
 ![](../images/banner.png)
 # Tutorial Track: Stretch Body
-[Stretch Body](https://github.com/hello-robot/stretch_body) is a set of Python packages that allow a developer to directly program the hardware of the Stretch RE1 and RE2 robots. The Stretch Body interface is intended for users who choose to not use ROS.
+[Stretch Body](https://github.com/hello-robot/stretch_body) is a set of Python packages that allow a developer to directly program the hardware of the Stretch robots. The Stretch Body interface is intended for users who are looking for an alternative to ROS.
 
 
 Stretch Body currently supports both Python2 and Python3. These tutorials assume a general familiarity with Python as well as basic robot motion control.

stretch_body/tutorial_collision_avoidance.md

@@ -8,7 +8,7 @@ Stretch Body includes a system to prevent inadvertent self-collisions.  It will
 
 **NOTE**: Self collisions are still possible while using the collision-avoidance system. The factory default collision models are coarse and not necessarily complete.
 
-This system is turned off by default starting with RE2. It may be turned off by default on many RE1 systems. First check if the collision detection system is turned on:
+This system is turned off by default starting with Stretch 2. It may be turned off by default on many RE1 systems. First check if the collision detection system is turned on:
 
 ```bash
 >>$ stretch_params.py | grep use_collision_manager

stretch_body/tutorial_contact_models.md

@@ -71,7 +71,7 @@ A contact model is simply a function that, given a user specified contact thresh
 
 ### The Effort-Pct Contact Model
 
-[Effort-Pct](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/prismatic_joint.py) is the default contact model for Stretch RE2. It simply scales the maximum range of motor currents into the range of [-100,100]. Thus, if you desire to have the robot arm extend but stop at 50% of its maximum current, you would write:
+[Effort-Pct](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/prismatic_joint.py) is the default contact model for Stretch 2. It simply scales the maximum range of motor currents into the range of [-100,100]. Thus, if you desire to have the robot arm extend but stop at 50% of its maximum current, you would write:
 
 ```python
 robot.arm.move_by(0.1,contact_thresh_pos=50.0)