I’m in the process of designing velocity controller for UR5 as part of my PhD. I’ve managed to spawn the model in Gazebo and successfully designed position controller. However, my ultimate goal is to apply the velocity controller algorithms on the real UR5 but I need first to make sure the simulation is working fine. In ROS, the transmission tag allows me to add the hardware interface EffortJointInterface,VelocityJointInterface, and PositionJointInterface. Which tag should I choose? Does UR5 allow the velocity control signals to its actuators? Your feedback is highly appreciated.