diff --git a/README.md b/README.md
index 99cabab7..f54f203d 100644
--- a/README.md
+++ b/README.md
@@ -11,20 +11,8 @@ drivers.
 ---
 
 > [!IMPORTANT]
-> The **torque_control** branch is a **beta feature**. At the current time, you will need to
-> participate in the public beta program at
-> [https://ur.centercode.com/key/PolyScope5Beta](https://ur.centercode.com/key/PolyScope5Beta) to
-> use it. It will not work with any released robot software version. At a later time this will
-> require a certain robot software version to work and the new features will not work with older
-> software versions. However, old functionality will still be working with older robot software as
-> noted in the version requirements below.
->
-> This being a beta feature, the API is not to be considered stable. Anything developed on this
-> branch might be changing in a breaking way until it is merged into the master branch.
->
-> Also, please keep the beta status in mind when operating the robot. Parts of the software
-> involved in the beta-feature might not be tested to the usual extent and might show unexpected
-> behavior in edge cases.
+> This branch adds torque_control to the ur_client_library. PolyScope version 5.23.0 / 10.11.0 will
+> be required to run this on a robot. A simulated robot doesn't act on direct torque commands.
 >
 > Documentation for the new features may also be missing initially. This will be added before
 > merging things to the master branch.
diff --git a/examples/torque_control.cpp b/examples/torque_control.cpp
index ae885b0b..f8c789e9 100644
--- a/examples/torque_control.cpp
+++ b/examples/torque_control.cpp
@@ -54,6 +54,13 @@ int main(int argc, char* argv[])
     robot_ip = std::string(argv[1]);
   }
 
+  // Parse how many seconds to run
+  auto second_to_run = std::chrono::seconds(0);
+  if (argc > 2)
+  {
+    second_to_run = std::chrono::seconds(std::stoi(argv[2]));
+  }
+
   bool headless_mode = true;
   g_my_robot = std::make_unique<urcl::ExampleRobotWrapper>(robot_ip, OUTPUT_RECIPE, INPUT_RECIPE, headless_mode,
                                                            "external_control.urp");
@@ -89,6 +96,7 @@ int main(int argc, char* argv[])
   // otherwise we will get pipeline overflows. Therefor, do this directly before starting your main
   // loop.
   g_my_robot->getUrDriver()->startRTDECommunication();
+  auto start_time = std::chrono::system_clock::now();
   while (!(passed_positive_part && passed_negative_part))
   {
     // Read latest RTDE package. This will block for a hard-coded timeout (see UrDriver), so the
@@ -140,6 +148,12 @@ int main(int argc, char* argv[])
       return 1;
     }
     URCL_LOG_DEBUG("data_pkg:\n%s", data_pkg->toString().c_str());
+    if (second_to_run.count() > 0 && (std::chrono::system_clock::now() - start_time) > second_to_run)
+    {
+      URCL_LOG_WARN("Time limit reached, stopping movement. This is expected on a simualted robot, as it doesn't move "
+                    "to torque commands.");
+      break;
+    }
   }
   g_my_robot->getUrDriver()->stopControl();
   URCL_LOG_INFO("Movement done");
diff --git a/resources/external_control.urscript b/resources/external_control.urscript
index 7b56390c..0dfffbe3 100644
--- a/resources/external_control.urscript
+++ b/resources/external_control.urscript
@@ -270,11 +270,11 @@ thread torqueThread():
   textmsg("ExternalControl: Starting torque thread")
   while control_mode == MODE_TORQUE:
     torque = cmd_torque
-    {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
+    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
-    torque_command(torque, friction_comp=friction_compensation_enabled)
-      {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
-    torque_command(torque, friction_comp=friction_compensation_enabled)
+    direct_torque(torque, friction_comp=friction_compensation_enabled)
+      {% elif ROBOT_SOFTWARE_VERSION >= v10.11.0 %}
+    direct_torque(torque, friction_comp=friction_compensation_enabled)
       {% else %}
     popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
       {% endif %}
@@ -688,15 +688,15 @@ end
 thread PDControlThread():
   while control_mode == MODE_PD_CONTROLLER_JOINT or control_mode == MODE_PD_CONTROLLER_TASK: 
     local q_err = cmd_servo_q - get_actual_joint_positions()
-    {% if ROBOT_SOFTWARE_VERSION >= v5.22.0 %} # ToDo: Increase to 5.23.0 once released
+    {% if ROBOT_SOFTWARE_VERSION >= v5.23.0 %}
       {% if ROBOT_SOFTWARE_VERSION < v6.0.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
-    torque_command(tau, friction_comp=friction_compensation_enabled)
-      {% elif ROBOT_SOFTWARE_VERSION >= v10.10.0 %}
+    direct_torque(tau, friction_comp=friction_compensation_enabled)
+      {% elif ROBOT_SOFTWARE_VERSION >= v10.11.0 %}
     local tau = pd_controller_gains.kp * q_err - pd_controller_gains.kd  * get_actual_joint_speeds()
     tau = clamp_array(tau, max_joint_torques)
-    torque_command(tau, friction_comp=friction_compensation_enabled)
+    direct_torque(tau, friction_comp=friction_compensation_enabled)
       {% else %}
     popup("Torque control is only supported from software 10.10.0 and upwards.", error=True, blocking=True)
       {% endif %}