How to set the rotation speed when the rotation joint is in position mode

[Lnferior]

In the environment, due to certain reasons, it is necessary to set the rotating pair to position mode. I can set the target position of the rotating pair through sim. setJointTargetPosition, but during this process, I also want to control the speed of rotation because I do not want the rotation process to be completed instantly. I want it to be able to complete the rotation within a certain time, and this time is arbitrarily adjustable, So it cannot be achieved by changing the maximum allowable speed of the rotating pair, so what method should I use?
Cheers

[fferri]

Perhaps sim.setObjectFloatParam(jointHandle, sim.jointfloatparam_velocity, vel) or sim.setJointTargetVelocity