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.