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.
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.
If it's related to velocity_decay, it's the fraction of velocity reduced per time step. At 1000 time steps per second, a decay of 0.01 is quite strong.
As it said, it is a coefficient. So it has NO units.
Please do not confuse `joint->axis->dynamics -> damping` (which has the same units as in URDF's joints, i e. force/velocity ratio or toque/angular velocity ratio depending on joint type) with `velocity_decay` , which are pure unit-less scalars indeed.
Hi
There should be no unit I think, since we should have something like energy_loss = damping * joint_velocity. I did not run any test, but one could run a simulation with two balls (one with damping, the other one without) fixed to the ground by prismatic joints and log information about velocity.
Asked: 2016-03-07 21:49:35 -0500
Seen: 2,975 times
Last updated: Apr 21 '17
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