Here's the description of SDF joint --> axis --> dynamics --> damping, "The physical velocity dependent viscous damping coefficient of the joint." Can you tell me what units this number is interpreted as having.
Originally posted by raequin on Gazebo Answers with karma: 165 on 2016-03-07
Post score: 3
It is Neutons per (meter per second), i.e. N * s / m (force per velocity ) or N * m * s (torque per angular velocity) depending on joint type.
Originally posted by eugene-katsevman with karma: 163 on 2017-04-20
This answer was ACCEPTED on the original site
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Comment by raequin on 2018-05-10:
Whence did this info come?
Comment by jwchang on 2018-06-13:
http://gazebosim.org/tutorials/?tut=ros_urdf#Joints, "the dynamics element with a viscous damping coefficient of 0.7 Nms/rad".