I cannot understand the description of dampingFactor in http://gazebosim.org/tutorials/?tut=ros_urdf#Links
"Exponential velocity decay of the link velocity - takes the value and multiplies the previous link velocity by (1-dampingFactor)." Is there any math to explain it?
I find the unit of dampingFactor and viscous friction coefficient in the motor which is usually expressed as Bm is (N*m)/(rad/s), so are they the same physical quantity?
If the dampingFactor = c and angular velocity = w, the damping force is c*w?
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