Apply suggestions from code review

Co-authored-by: Mads Holm Peters <[email protected]>

Author: urfeex

doc/architecture/reverse_interface.rst

@@ -96,7 +96,7 @@ Direct torque control mode
 Direct torque control mode is available since PolyScope version 5.23.0 / 10.10.0. It allows to command
 joint torques directly to the robot.
 
-.. note:: Target tprques are given **after** gravity compensation. A vector of zeros will hold the current position
+.. note:: Target torques are given **after** gravity compensation. A vector of zeros will hold the current position
    given that the payload is known to the controller.
 
 .. warning:: Direct torque control is a very low-level command interface. Commanding high torques in

src/control/script_command_interface.cpp

@@ -228,8 +228,7 @@ bool ScriptCommandInterface::endToolContact()
 
 bool ScriptCommandInterface::setFrictionCompensation(const bool friction_compensation_enabled)
 {
-  // ToDo: Increase to 5.23.0 once released
-  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.22.0"),
+  robotVersionSupportsCommandOrWarn(urcl::VersionInformation::fromString("5.23.0"),
                                     urcl::VersionInformation::fromString("10.10.0"), __func__);
   const int message_length = 2;
   uint8_t buffer[sizeof(int32_t) * MAX_MESSAGE_LENGTH];