How does gazebo handle damping in Joint::SetForce ?
I'm using gazebo's API to apply force to a joint with a non-null damping coeficient (Defined in the SDF). Is it necessary to include the damping effect when I call the method SetForce() ?
e.g joint -> SetForce ( 0, effort - joint->GetDamping(0) * joint->GetVelocity(0))
Or does Gazebo handle the damping automatically and I don't have to include it?
e.g joint -> SetForce ( 0, effort )
Thanks