How to control the wheel's rotation speed individually?

[YSFlower]

Hi, I have found functions in PythonAPI set_wheel_steer_direction to set the wheel's steer direction indvidually. How can I control the wheel's rotation speed invidually to make the vehicle's wheel rotating? I found no function in PythonAPI to control the wheel rotating speed.
(ps: if iI want to use set_wheel_steer_direction to make it work , must I use set_simulate_physics(False) before? I have tried wheel's steer direction only work when I set simulate_physics to False)

[stale[bot]]

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[FrancyFiore]

@YSFlower Were you able to control the speed of the wheels individually? I would also be interested in being able to do that