correct way to emulate servo motor (position, velocity, intvelocity...)

I write some simulation code that should mimic the robot fish swimming with servo motor
when I have ` https://mujoco.readthedocs.io/en/latest/XMLreference.html?highlight=intvelocity#actuator-intvelocity
**What is the proper way to emulate the servo motor?**

p.s for now i use `` with the high kp gain that I am not sure how to tune appart from trial and error.

在 Ubuntu 20.04 上使用 MuJoCo 2.2.0，复现所示 XML 导致的 schema 违规。阅读所引用的 actuator-intvelocity XML 文档，并将其与 issue 中使用的元素进行比较。完成标准是识别出有效的伺服电机配置，并明确其参数应如何调节。

由索引模型根据 Issue 内容生成。