diff --git a/Engine.cc b/Engine.cc
index 997bf64..0cc7f79 100644
--- a/Engine.cc
+++ b/Engine.cc
@@ -306,12 +306,60 @@ int Engine::addAMotor(Object * o1, Object * o2)
         b1 = o1->getBody();
     if (o2 != NULL)
         b2 = o2->getBody();
-    dJointID j = dJointCreateAMotor(m_world.getWorldID(), 0);
+    dJointID jid = m_world.createAMotor(b1, b2);
     int id = m_next_joint_index++;
-    m_joints[id] = j;
+    m_joints[id] = jid;
     return id;
 }
 
+void Engine::setAMotorNumAxes(int jid, int num_axes)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorNumAxes(m_joints[jid], num_axes);
+    }
+}
+
+void Engine::setAMotorLoStop(int jid, dReal val)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorLoStop(m_joints[jid], val);
+    }
+}
+
+void Engine::setAMotorHiStop(int jid, dReal val)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorHiStop(m_joints[jid], val);
+    }
+}
+
+void Engine::setAMotorVel(int jid, dReal val)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorVel(m_joints[jid], val);
+    }
+}
+
+void Engine::setAMotorFMax(int jid, dReal val)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorFMax(m_joints[jid], val);
+    }
+}
+
+void Engine::setAMotorBounce(int jid, dReal val)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorBounce(m_joints[jid], val);
+    }
+}
+
 void Engine::removeObject(int id)
 {
     Object * obj = getObject(id);
diff --git a/Engine.h b/Engine.h
index 781d5de..a39f386 100644
--- a/Engine.h
+++ b/Engine.h
@@ -125,6 +125,12 @@ class Engine
         int addObject(bool is_static, OdeWorld::GeomType geom_type,
                 refptr< std::vector<float> > args);
         int addAMotor(Object * o1, Object * o2);
+        void setAMotorNumAxes(int jid, int num_axes);
+        void setAMotorLoStop(int jid, dReal val);
+        void setAMotorHiStop(int jid, dReal val);
+        void setAMotorVel(int jid, dReal val);
+        void setAMotorFMax(int jid, dReal val);
+        void setAMotorBounce(int jid, dReal val);
         void removeObject(int id);
         int cloneObject(const Object * obj);
         Object * getObject(int id);
diff --git a/ag.cc b/ag.cc
index 471f704..c525a40 100644
--- a/ag.cc
+++ b/ag.cc
@@ -260,23 +260,40 @@ namespace ag
         lua_setfield(L, -2, "getSize");
     }
 
-    static void createLuaJoint(lua_State * L, int id)
+    static void createLuaAMotor(lua_State * L, int id)
     {
         lua_newtable(L);
         lua_pushinteger(L, id);
         lua_setfield(L, -2, "id");
-        lua_pushcfunction(L, joint::setLoStop);
+        lua_pushcfunction(L, joint::setAMotorLoStop);
         lua_setfield(L, -2, "setLoStop");
-        lua_pushcfunction(L, joint::setHiStop);
+        lua_pushcfunction(L, joint::setAMotorHiStop);
         lua_setfield(L, -2, "setHiStop");
-        lua_pushcfunction(L, joint::setVel);
+        lua_pushcfunction(L, joint::setAMotorVel);
         lua_setfield(L, -2, "setVel");
-        lua_pushcfunction(L, joint::setFMax);
+        lua_pushcfunction(L, joint::setAMotorFMax);
         lua_setfield(L, -2, "setFMax");
-        lua_pushcfunction(L, joint::setBounce);
+        lua_pushcfunction(L, joint::setAMotorBounce);
         lua_setfield(L, -2, "setBounce");
     }
 
+    int _createAMotor(lua_State * L)
+    {
+        int argc = lua_gettop(L);
+        if (argc == 2)
+        {
+            Engine::Object * o1 = object::getObject(L, 1);
+            Engine::Object * o2 = object::getObject(L, 2);
+            if (o1 != NULL && o2 != NULL)
+            {
+                lua_pushinteger(L, g_engine->addAMotor(o1, o2));
+                return 1;
+            }
+        }
+        lua_pushnil(L);
+        return 1;
+    }
+
     static int loadModelSpecify(lua_State * L, bool static_data)
     {
         bool added = false;
@@ -885,7 +902,7 @@ namespace ag
 
     namespace object
     {
-        static Engine::Object * getObject(lua_State * L, int index)
+        Engine::Object * getObject(lua_State * L, int index)
         {
             Engine::Object * ret = NULL;
 
@@ -1245,24 +1262,84 @@ namespace ag
 
     namespace joint
     {
-        int setLoStop(lua_State * L)
+        int setAMotorLoStop(lua_State * L)
         {
+            int argc = lua_gettop(L);
+            if (argc == 2 && lua_istable(L, 1) && lua_isnumber(L, 2))
+            {
+                lua_getfield(L, 1, "id");
+                if (lua_isnumber(L, -1))
+                {
+                    int jid = lua_tointeger(L, -1);
+                    g_engine->setAMotorLoStop(jid, lua_tonumber(L, 2));
+                }
+                lua_pop(L, 1);
+            }
+            return 0;
         }
 
-        int setHiStop(lua_State * L)
+        int setAMotorHiStop(lua_State * L)
         {
+            int argc = lua_gettop(L);
+            if (argc == 2 && lua_istable(L, 1) && lua_isnumber(L, 2))
+            {
+                lua_getfield(L, 1, "id");
+                if (lua_isnumber(L, -1))
+                {
+                    int jid = lua_tointeger(L, -1);
+                    g_engine->setAMotorHiStop(jid, lua_tonumber(L, 2));
+                }
+                lua_pop(L, 1);
+            }
+            return 0;
         }
 
-        int setVel(lua_State * L)
+        int setAMotorVel(lua_State * L)
         {
+            int argc = lua_gettop(L);
+            if (argc == 2 && lua_istable(L, 1) && lua_isnumber(L, 2))
+            {
+                lua_getfield(L, 1, "id");
+                if (lua_isnumber(L, -1))
+                {
+                    int jid = lua_tointeger(L, -1);
+                    g_engine->setAMotorVel(jid, lua_tonumber(L, 2));
+                }
+                lua_pop(L, 1);
+            }
+            return 0;
         }
 
-        int setFMax(lua_State * L)
+        int setAMotorFMax(lua_State * L)
         {
+            int argc = lua_gettop(L);
+            if (argc == 2 && lua_istable(L, 1) && lua_isnumber(L, 2))
+            {
+                lua_getfield(L, 1, "id");
+                if (lua_isnumber(L, -1))
+                {
+                    int jid = lua_tointeger(L, -1);
+                    g_engine->setAMotorFMax(jid, lua_tonumber(L, 2));
+                }
+                lua_pop(L, 1);
+            }
+            return 0;
         }
 
-        int setBounce(lua_State * L)
+        int setAMotorBounce(lua_State * L)
         {
+            int argc = lua_gettop(L);
+            if (argc == 2 && lua_istable(L, 1) && lua_isnumber(L, 2))
+            {
+                lua_getfield(L, 1, "id");
+                if (lua_isnumber(L, -1))
+                {
+                    int jid = lua_tointeger(L, -1);
+                    g_engine->setAMotorBounce(jid, lua_tonumber(L, 2));
+                }
+                lua_pop(L, 1);
+            }
+            return 0;
         }
     }
 }
diff --git a/ag.h b/ag.h
index 9454709..326424a 100644
--- a/ag.h
+++ b/ag.h
@@ -3,6 +3,7 @@
 #define AG_H
 
 #include <lua.hpp>
+#include "Engine.h"
 
 namespace ag
 {
@@ -40,6 +41,8 @@ namespace ag
     int type(lua_State * L);
     int clearWorld(lua_State * L);
 
+    int _createAMotor(lua_State * L);
+
     /* 2D overlay functions */
     int drawArc(lua_State * L);
     int drawCircle(lua_State * L);
@@ -64,6 +67,8 @@ namespace ag
 
     namespace object
     {
+        Engine::Object * getObject(lua_State * L, int index);
+
         int draw(lua_State * L);
         int setPosition(lua_State * L);
         int getPosition(lua_State * L);
@@ -86,11 +91,11 @@ namespace ag
 
     namespace joint
     {
-        int setLoStop(lua_State * L);
-        int setHiStop(lua_State * L);
-        int setVel(lua_State * L);
-        int setFMax(lua_State * L);
-        int setBounce(lua_State * L);
+        int setAMotorLoStop(lua_State * L);
+        int setAMotorHiStop(lua_State * L);
+        int setAMotorVel(lua_State * L);
+        int setAMotorFMax(lua_State * L);
+        int setAMotorBounce(lua_State * L);
     }
 }