See https://bitbucket.org/osrf/drcsim/issue/291 and https://bitbucket.org/osrf/drcsim/issue/273

The latest release provides multiple methods to adjust the joint damping.

A set_joint_damping service and kp_velocity.

Please provide a discussion of the similarities and differences between these methods, and guidelines for their use.

It appears that both of these changes can impact the underlying stability of the physics engine, which means that the "physics" of the world will no longer be the same for all users.

As we are not all experts in dynamic simulation, and time is short, please provide an expanded discussion here and on the users guide. As of this writing, the users guide incorrectly describes the usage of kp_velocity