diff --git a/bioloid_controller_cm510/apply_wrench.txt b/bioloid_controller_cm510/apply_wrench.txt
new file mode 100644
index 0000000000000000000000000000000000000000..23abe65cb5abe1d74320a4abb046cacc29138f2d
--- /dev/null
+++ b/bioloid_controller_cm510/apply_wrench.txt
@@ -0,0 +1 @@
+rosservice call /gazebo/apply_body_wrench '{body_name: "bioloid::base_link", reference_frame: "bioloid::base_link", wrench: { force: { x: 0, y: 500.0, z: 0.0 } }, start_time: 0, duration: 1000000 }'