How to model gearbox reduction in Genesis similarly to MuJoCo actuator gear?

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Hello,

I would like to ask whether there is a recommended approach in Genesis to reproduce the effect of MuJoCo’s actuator gear parameter (i.e., transmission/gear reduction scaling at the actuator level). In particular, I am trying to model a realistic actuator with high output torque and low output RPM, as would be expected from a geared motor.

If Genesis provides a built-in mechanism for gearbox/transmission modeling, or if the intended approach is to implement this via joint/actuator parameters or controller-side scaling, I would greatly appreciate any guidance or references.

Thank you in advance.