Recently l am using mujoco to build the arm and l am writing to ask that: </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="30.0" joint="shoulder"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="30.0" joint="elbow"/> </actuator> </mujoco> In the above xml file, we have motor for shoulder and elbow. Is the "gear" here refers to "gear ratio"? which means the torque l can output by using this motor is "ctrlrange*gear(-30Nm--30Nm)"? I am looking forward to your kind reply.