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How gazebo handles 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

How does gazebo handles 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