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Could you post the URDF of that simple example?

I'm also wondering if they're proper velocity controllers, or secretly effort controllers that have a slow PID trying to get to the desired velocity. Or if they're simply not operating if 0.0 is send (what would happen if you set the velocity to 0.1?).

It might be the case that no, it's not possible. However, I'm not too versed in the specifics of velocity controllers.