How to give manual rotation to 6DOF joint in Simscape Multibody ?

I am trying to to give translation and rotation data to a 6DOF joint below in Simscape Multibody. I have figured out how to give linear motion but how do I give rotation ?

Answer 1

[Steve Miller]

Spherical primitives can only be actuated using torques.

Options:

1. You could create a closed-loop controller that will apply the correct torques to force the spherical primitive to the angle you specify.
2. You can switch to a Bushing Joint, which has three rotational primitives instead of a spherical joint. Those primitives can be motion actuated.

--Steve