Say I want to rotate a joint at a certain velocity. So I browse through the API reference pages and reach [here](https://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Joint.html#a30b3b4fd789504c9dc265cddb276f3bf).
I can't seem to find any reference to the term 'velocity'. Is it linear velocity or angular velocity? Also what is it's unit? Where do I find information about it?
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