How to simultaneously set the joint angle, angular velocity, and angular acceleration of a robotic arm

Omniverse Isaac Sim
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1

Isaac Sim 4.1.0.
When I use ArticulationAction(API) to simultaneously set the angle and angular velocity of the robotic arm, I found that the angular velocity set by API(robot. get_joint_velocity()) is completely different from that set by ArticulationAction.
How to set the target angle of the robotic arm joint and make the robotic arm joint move at the set target speed.

2

Thank you for contacting us regarding the issue you’re experiencing with your robotic arm. To help us understand and potentially reproduce the problem, please provide a detailed, step-by-step description of the process, along with any relevant files needed to replicate the issue.

Additionally, please try using Isaac Sim version 4.2.0.