diff --git a/ag.cc b/ag.cc
index 7aa7e33..471f704 100644
--- a/ag.cc
+++ b/ag.cc
@@ -260,6 +260,23 @@ namespace ag
         lua_setfield(L, -2, "getSize");
     }
 
+    static void createLuaJoint(lua_State * L, int id)
+    {
+        lua_newtable(L);
+        lua_pushinteger(L, id);
+        lua_setfield(L, -2, "id");
+        lua_pushcfunction(L, joint::setLoStop);
+        lua_setfield(L, -2, "setLoStop");
+        lua_pushcfunction(L, joint::setHiStop);
+        lua_setfield(L, -2, "setHiStop");
+        lua_pushcfunction(L, joint::setVel);
+        lua_setfield(L, -2, "setVel");
+        lua_pushcfunction(L, joint::setFMax);
+        lua_setfield(L, -2, "setFMax");
+        lua_pushcfunction(L, joint::setBounce);
+        lua_setfield(L, -2, "setBounce");
+    }
+
     static int loadModelSpecify(lua_State * L, bool static_data)
     {
         bool added = false;
@@ -1225,4 +1242,27 @@ namespace ag
             return 1;
         }
     }
+
+    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)
+        {
+        }
+    }
 }
diff --git a/ag.h b/ag.h
index ac63c55..9454709 100644
--- a/ag.h
+++ b/ag.h
@@ -83,6 +83,15 @@ namespace ag
         int getAABB(lua_State * L);
         int getSize(lua_State * L);
     }
+
+    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);
+    }
 }
 
 #endif
diff --git a/ag.lua b/ag.lua
index e1308d2..0a80775 100644
--- a/ag.lua
+++ b/ag.lua
@@ -1,5 +1,4 @@
 next = ag.next
-
 type = ag.type
 
 pairs = function(table)
@@ -20,33 +19,65 @@ end
 
 ag.createAMotor = function(obj1, obj2, axis0, axis1, axis2)
     local function setAMotorAxis(amotor, anum, axis)
+        local rel, x, y, z, angle = 0, 1, 0, 0, 0
+        for k, v in pairs(axis) do
+            if     (k == "rel") then
+                rel = v
+            elseif (k == "x") then
+                x = v
+            elseif (k == "y") then
+                y = v
+            elseif (k == "z") then
+                z = v
+            elseif (k == "angle") then
+                angle = v
+            elseif (k == "lo_stop") then
+                amotor:setLoStop(v)
+            elseif (k == "hi_stop") then
+                amotor:setHiStop(v)
+            elseif (k == "vel") then
+                amotor:setVel(v)
+            elseif (k == "fmax") then
+                amotor:setFMax(v)
+            elseif (k == "bounce") then
+                amotor:setBounce(v)
+            end
+        end
     end
+
     local o1 = obj1
     local o2 = obj2
-    local num_axes = 1
+    local num_axes = 0
+
     if (type(obj1) == "number") then
         if (obj1 == 0) then
             o1 = { id = 0 }
         end
     end
+
     if (type(obj2) == "number") then
         if (obj2 == 0) then
             o2 = { id = 0 }
         end
     end
-    local num_axes = 0
+
+    local amotor = ag._createAMotor(obj1, obj2)
+
     if (axis0 ~= nil) then
-        setAMotorAxis(0, axis0)
+        setAMotorAxis(amotor, 0, axis0)
         num_axes = 1
         if (axis1 ~= nil) then
-            setAMotorAxis(1, axis1)
+            setAMotorAxis(amotor, 1, axis1)
             num_axes = 1
             if (axis2 ~= nil) then
-                setAMotorAxis(2, axis2)
+                setAMotorAxis(amotor, 2, axis2)
                 num_axes = 2
             end
         end
     end
-    ag.setAMotorNumAxes(num_axes)
+
+    amotor:setNumAxes(num_axes)
+
+    return amotor
 end