Hi, Is it possible to set a desired position and velocity of an actuated joint at the same time? From the MuJoCo documentation I read that you can set the actuator as motor for using torque input, or position for using position inputs. However, I do not get how to use these two features together (if possible). My goal is to move a desired joint following a specific trajectory (position steps) with a defined velocity for each step. Both position and velocity are smooth functions. Thanks for your help in advance.