Minor edits

stretch_tool_share/dex_to_standard.md

@@ -1,26 +1,25 @@
 # Dex to Standard Wrist
-This tutorial will guide you through the process of replacing a gripper with Dex Wrist for one with a Standard Wrist.
+This tutorial will guide you through the steps of replacing a gripper with Dex Wrist (3-DoF) for one with a Standard Wrist (1-DoF).
 
-Power down your Stretch before proceeding.
-
-## Tools required
-* 8 [M2x6mm Torx FHCS bolts](https://www.mcmaster.com/90236A104/) (provided)
-* 4 [M2.5x4mm Torx FHCS bolts](https://www.mcmaster.com/92703A448/) (provided)
-* 2 [M2.5x8mm SHCS bolts](https://www.mcmaster.com/91290A102/) (provided)
-* T6 Torx wrench (provided)
-* T8 Torx wrench (provided)
-* 2mm Hex key (provided)
+## Parts and Tools required
+Please note that this procedure does not require any additional parts or tools apart from the ones that were shipped with the robot.
+* 8 [M2x6mm Torx FHCS bolts](https://www.mcmaster.com/90236A104/)
+* 4 [M2.5x4mm Torx FHCS bolts](https://www.mcmaster.com/92703A448/)
+* 2 [M2.5x8mm SHCS bolts](https://www.mcmaster.com/91290A102/)
+* T6 Torx wrench
+* T8 Torx wrench
+* 2mm Hex key
 
 ## Removing Dex Wrist Gripper
-Here we describe removing the Compliant gripper.
+Here we describe removing the Dex Wrist gripper. Please ensure that the robot is turned off before proceeding.
 
-Inspect the parts and ensure that you have everthing you need for the procedure.
+First, inspect the parts and ensure that you have everthing you need for the procedure.
 ![Dex Wrist](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/dex_wrist_cable_detail.png)
 
-First, remove the cable clip by removing the M2.5x8mm bolts and unroute the Dynamixel cable out of the wrist pitch servo (pink). 
+Now, remove the cable clip by unscrewing the M2.5x8mm bolts and then unplug the Dynamixel cable out of the wrist pitch servo (pink).
 ![Remove the cable](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/dex_wrist_cable_route_rs.png)
 
-Next, rotate the wrist yaw joint so the wrist pitch servo body is accessible. Detach the pitch servo from the mounting bracket using the 4 M2.5x4mm screws (C) using the T8 Torx wrench.
+Next, rotate the wrist yaw joint so that the wrist pitch servo body is accessible. Detach the pitch servo from the mounting bracket by unscrewing the four M2.5x4mm screws (C) with the T8 Torx wrench.
 ![Remove screws](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/dex_wrist_pitch_bracket_attach_rs.png)
 
 Slide the wrist module out horizontally so that the bearing unmates from its post.
@@ -33,15 +32,15 @@ Lastly, detach the wrist mount bracket (A) from the bottom of the tool plate by
 ![Remove tool plate](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/dex_wrist_bracket_install_rs.png)
 
 ## Attaching Standard Wrist Gripper
-Here we describe attaching the Standard gripper.
+Here we describe attaching the Standard Wrist gripper.
 
-First, note where the forward direction is on the wrist yaw tool plate. This is indicated by the additional alignment hole that is just outside the bolt pattern (shown pointing down in the image).
+First, note where the forward direction is on the wrist yaw tool plate. This is indicated by the additional alignment hole that is just outside the bolt pattern shown pointing down in the image.
 ![Alignment hole](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/dex_wrist_C_rs.png)
 
-Then, route the Dynamixel cable through the center of the standard gripper mounting bracket and install the bracket with the 8 screws and T6 Torx wrench. Make sure the forward marking on the bracket matches the forward marking on the wrist yaw.
+Then, route the Dynamixel cable through the center of the standard gripper mounting bracket and install the bracket with the eight screws and T6 Torx wrench. Make sure the forward marking on the bracket matches the forward marking on the wrist yaw.
 ![image alt text](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/re2/gripper_mount_a_rs.png)
 
-Affix the 4 screws, with the shorter two going to the servo side, to hold the gripper to the bracket. Lastly, route the dynamixel cable through the back of the gripper and plug it securely into the servo.
+Now, affix the four screws, with the shorter two going to the servo side, to hold the gripper to the bracket. Lastly, route the dynamixel cable through the back of the gripper and plug it securely into the servo.
 ![image alt text](https://raw.githubusercontent.com/hello-robot/stretch_hardware_guides/master/docs/images/re2/gripper_mount_b_rs.png)
 
 ## Software Instructions
@@ -67,7 +66,7 @@ cd ~/catkin_ws/src/stretch_ros/stretch_description/urdf
 ./export_urdf.sh
 ```
 
-You can ensure that the gripper is functional by homing the Dynamixel servos as below:
+You can ensure that the gripper is functional by homing the Dynamixel servos with the following commands:
 ```bash
 stretch_gripper_home.py
 ```