I didn't think it will affect that much the documentation, feel free to change it.

It's a minimal thing but I added the new outputs of usb_name and the force_N_per

The --baud in the input commands weren't working anymore so if I tried the same commands without them it functions normally and the outputs for some commands are also different.

There was something missing after the follow trajectory command and it was the push command and a time sleep to work.

The joint limits are updated now, I found them in the stretch_main.xacro and stretch_dex_wrist.xacro from the stretch_description/urdf file

I just added in the Code Breakdown part the missing link to watch the full script in github

I change the name of the launch file because it hasn't the name "sample"

There was an incorrect description in rate = rospy.rate(), there wasn't an explanation, instead there was again the explanation of rospy.spin()

Updated the robot status part making a difference on the subclasses that changed, meaning Prismatic Joint and Dynamixel adding there the corresponding codes and make a difference in the example of the arm class.

Just the same as quick start  guide for RE1, added a note with more information about how to use iPython.

Added a little more information if the people haven't used iPython before on how to exit or how to experiment with this tutorials.

Fixed a typo and differentiation in the angle and distance in bold.

Deleted old image and change it for an updated one

Now it is a better image

Change the updated image to see changes

Added an updated image

Added a note and a preference of the stretch driver

Change the deprecated mode from manipulation to trajectory and added how to build in ROS2

Only minor edits like the tf instead of tf2

Change a typo and the path was incorrect

Change the path of the RViz configuration and added a note.