diff --git a/Engine.cc b/Engine.cc
index 0cc7f79..bf0a436 100644
--- a/Engine.cc
+++ b/Engine.cc
@@ -312,6 +312,15 @@ int Engine::addAMotor(Object * o1, Object * o2)
     return id;
 }
 
+void Engine::setAMotorAxis(int jid, int anum, int rel,
+        dReal x, dReal y, dReal z)
+{
+    if (m_joints.find(jid) != m_joints.end())
+    {
+        m_world.setAMotorAxis(m_joints[jid], anum, rel, x, y, z);
+    }
+}
+
 void Engine::setAMotorNumAxes(int jid, int num_axes)
 {
     if (m_joints.find(jid) != m_joints.end())
diff --git a/Engine.h b/Engine.h
index a39f386..2aa6a30 100644
--- a/Engine.h
+++ b/Engine.h
@@ -125,6 +125,8 @@ class Engine
         int addObject(bool is_static, OdeWorld::GeomType geom_type,
                 refptr< std::vector<float> > args);
         int addAMotor(Object * o1, Object * o2);
+        void setAMotorAxis(int jid, int anum, int rel,
+                dReal x, dReal y, dReal z);
         void setAMotorNumAxes(int jid, int num_axes);
         void setAMotorLoStop(int jid, dReal val);
         void setAMotorHiStop(int jid, dReal val);
diff --git a/ag.cc b/ag.cc
index c525a40..c23d72f 100644
--- a/ag.cc
+++ b/ag.cc
@@ -275,6 +275,8 @@ namespace ag
         lua_setfield(L, -2, "setFMax");
         lua_pushcfunction(L, joint::setAMotorBounce);
         lua_setfield(L, -2, "setBounce");
+        lua_pushcfunction(L, joint::setAMotorAxis);
+        lua_setfield(L, -2, "setAxis");
     }
 
     int _createAMotor(lua_State * L)
@@ -1262,6 +1264,33 @@ namespace ag
 
     namespace joint
     {
+        int setAMotorAxis(lua_State * L)
+        {
+            int argc = lua_gettop(L);
+            if (argc == 6
+                    && lua_istable(L, 1)
+                    && lua_isnumber(L, 2)
+                    && lua_isnumber(L, 3)
+                    && lua_isnumber(L, 4)
+                    && lua_isnumber(L, 5)
+                    && lua_isnumber(L, 6))
+            {
+                lua_getfield(L, 1, "id");
+                if (lua_isnumber(L, -1))
+                {
+                    int jid = lua_tointeger(L, -1);
+                    g_engine->setAMotorAxis(jid,
+                            lua_tointeger(L, 2),
+                            lua_tointeger(L, 3),
+                            lua_tonumber(L, 4),
+                            lua_tonumber(L, 5),
+                            lua_tonumber(L, 6));
+                }
+                lua_pop(L, 1);
+            }
+            return 0;
+        }
+
         int setAMotorLoStop(lua_State * L)
         {
             int argc = lua_gettop(L);
diff --git a/ag.h b/ag.h
index 326424a..b8a6d15 100644
--- a/ag.h
+++ b/ag.h
@@ -91,6 +91,7 @@ namespace ag
 
     namespace joint
     {
+        int setAMotorAxis(lua_State * L);
         int setAMotorLoStop(lua_State * L);
         int setAMotorHiStop(lua_State * L);
         int setAMotorVel(lua_State * L);
diff --git a/ag.lua b/ag.lua
index 0a80775..845570d 100644
--- a/ag.lua
+++ b/ag.lua
@@ -43,6 +43,7 @@ ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)
                 amotor:setBounce(v)
             end
         end
+        amotor:setAxis(rel, x, y, z)
     end
 
     local o1 = obj1