WIP: Hotfix/friction compensation

Description

added friction compensation (mostly cherry-picked from devel, but some changes were needed for compatibility)

What to focus on

• put content here.

Reviewers

• @alexluleme
• @amyblank
• @bz
• @cw
• @ps
• @wd

Resources

Issues

What issues does this fix?

• Fixes #issue-number