Update documentation

Author: urmahp

doc/architecture/script_command_interface.rst

@@ -20,6 +20,7 @@ At the time of writing the ``ScriptCommandInterface`` provides the following fun
   contact example
   <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/tool_contact_example.cpp>`_
   for more information.
+- ``setFrictionCompensation()``: Set friction compensation for torque command.
 
 Communication protocol
 ----------------------
@@ -48,6 +49,7 @@ The robot reads from the "script_command_socket" expecting a 32 bit integer repr
            - 4: endForceMode
            - 5: startToolContact
            - 6: endToolContact
+           - 7: setFrictionCompensation
    1-27   data fields specific to the command
    =====  =====
 
@@ -121,6 +123,15 @@ The robot reads from the "script_command_socket" expecting a 32 bit integer repr
    1      No specific meaning / values ignored
    =====  =====
 
+.. table:: With endToolContact command
+   :widths: auto
+
+   =====  =====
+   index  meaning
+   =====  =====
+   1      friction_compensation_enabled enable/disable friction compensation for torque command.
+   =====  =====
+
 .. note::
    In URScript the ``socket_read_binary_integer()`` function is used to read the data from the
    script command socket. The first index in that function's return value is the number of integers read,

include/ur_client_library/control/script_command_interface.h

@@ -151,8 +151,8 @@ class ScriptCommandInterface : public ReverseInterface
    * \brief Set friction compensation for the torque_command. If true the torque command will compensate for friction,
    * if false it will not.
    *
-   * \param friction_compensation_enabled Will set a friction_compensation variable in urscript, which will be used when calling
-   * torque_command
+   * \param friction_compensation_enabled Will set a friction_compensation_enabled variable in urscript, which will be
+   * used when calling torque_command
    *
    * \returns True, if the write was performed successfully, false otherwise.
    */

include/ur_client_library/ur/ur_driver.h

@@ -718,8 +718,8 @@ class UrDriver
    * \brief Set friction compensation for the torque_command. If true the torque command will compensate for friction,
    * if false it will not.
    *
-   * \param friction_compensation_enabled Will set a friction_compensation variable in urscript, which will be used when calling
-   * torque_command
+   * \param friction_compensation_enabled Will set a friction_compensation_enabled variable in urscript, which will be
+   * used when calling torque_command
    *
    * \returns True, if the write was performed successfully, false otherwise.
    */