Hi, I am building a pole balancing model in MuJoCo. If actuator/motor (direct drive type) is used at a joint, the control input is torque, right? What If I use the actuator/motor (direct drive type) for the linear movement in simulation? What is the control input in this case? I am trying to build a pole balancing simulation in MuJoCo, and transfer the simulation to the physical system, but I am not sure what kind of actuator I should use. My servo motor can be controlled by position, velocity, and torque. So I am confused What kind of actuator I should use among actuator/motor, actuator/position, actuator/velocity. Could anybody give me a comment about those issues? Thanks.