# Regarding writing a new ball joint for gazebo with provision for applying forces (SetForce) across all three axis. Similar to actual Gimbal joint.

Hi,

The problem is when I apply forces and torques, it is not behaving as expected. The upper and lower limits are not working and sometimes my model just hangs. Probably due to my low inertial values, the actual accelerations are very high when I apply torques of the order of 10^-3.

I was thinking of writing a separate ball joint (similar to actual gimbal joint, or the gimbal joint in Matlab), where I can apply torques in all the three directions. My question is has someone already done/or is currently doing that in the gazebo community? If someone tried, can I get some pointers on if that is possible or not, or what are the challenges faced. Also if there is any other way I can accomplish my goal of applying torques in all three directions, without creating a new ball joint, please do suggest. Many thanks.

MainBody:

<mass>0.0076667</mass>
<inertia>
<ixx>4.011e-07</ixx>
<ixy>1.143e-09</ixy>
<ixz>1.2213e-07</ixz>
<iyy>2.0834e-06</iyy>
<iyz>-7.7638e-11</iyz>
<izz>2.1482e-06</izz>
</inertia>


 <mass>0.0000013315</mass>
<inertia>
<ixx>5.6134e-10</ixx>
<ixy>-7.9904e-15</ixy>
<ixz>-9.6096e-15</ixz>
<iyy>5.538e-11</iyy>
<iyz>-5.8985e-11</iyz>
<izz>5.0598e-10</izz>
</inertia>


<mass>0.00013315</mass>