Does the arm in Kuka youbot accept velocity control inputs?

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I would like to send angular velocities commands to each joint of the arm in Kuka youbot. I've searched about this robot and I found out it is a joint-velocity-controlled robot which is what I'm looking for. However, what I see in urdf and yaml files don't reflect this type. For example,

For the first joint, in youbot_description/urdf/youbot_arm/arm.transmission.xacro

<transmission name="${name}_trans_1">
      <type>transmission_interface/SimpleTransmission</type>
      <actuator name="${name}_motor_1">
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
      <joint name="${name}_joint_1">
        <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      </joint>
</transmission>

The interface is EffortJointInterface. In their package, there are two controllers arm_1_vel_controller.yaml and arm_1_controller.yaml. The first one has effort_controllers/JointVelocityController and the second one has effort_controllers/JointTrajectoryController. Both contain effort_controllers which means the joints accept effort not velocity. So the robot should be classified as joint-torque-controlled robot. Am I correct?