I am using MuJoCo for simulation of legged robots. In the process of setting the actuator as the motor, I read the description of the gear vector in the MuJoCo document and have some question. The length of the gear vector is 6, the first term is as scalar transmission, can you explain the meaning of the remaining vector components, or can you give me some reference material?
See documentation here: http://www.mujoco.org/book/modeling.html#general For most actuators only the first number is used. For actuators such as site, which are jet actuators acting on bodies, the gear vector specifies the 3D force and 3D torque axis along which the actuator acts.