Added command to set friction compensation for the torque command

[urmahp]

No description provided.

[codecov]

Codecov Report

Attention: Patch coverage is 72.22222% with 5 lines in your changes missing coverage. Please review.

Please upload report for BASE (torque_control@ebe30d2). Learn more about missing BASE report.

Files with missing lines	Patch %	Lines
src/ur/ur_driver.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@                Coverage Diff                @@
##             torque_control     #323   +/-   ##
=================================================
  Coverage                  ?   75.96%           
=================================================
  Files                     ?       87           
  Lines                     ?     3757           
  Branches                  ?      416           
=================================================
  Hits                      ?     2854           
  Misses                    ?      686           
  Partials                  ?      217           

Flag	Coverage Δ
start_ursim	81.03% <ø> (?)
ur20-latest	73.92% <72.22%> (?)
ur5-3.14.3	74.48% <72.22%> (?)
ur5e-10.7.0	68.64% <72.22%> (?)
ur5e-5.9.4	74.34% <72.22%> (?)

Flags with carried forward coverage won't be shown. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[urfeex]

It might be great to start testing the script command functions from the ur_driver object.

[urmahp]

Yes that is a good idea. But we should probably not start doing it on a beta branch, but start by adding the first test to the master branch, which would then test some of the other commands.

[urfeex]

I just realized: The documentation would also require an update for this: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/architecture/script_command_interface.rst

[urfeex]

With my suggestion that looks fine.