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.

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.

EP from contact thresh naming