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()