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void dJointSetBallAnchor (dJointID, dReal x, dReal y, dReal z);
Set the joint anchor point.
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it's not clear to me what coordinate frame the anchor point is in...

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For the parameter getting functions, if the system is out of alignment (i.e. there is some joint error) then the anchor/axis values will be correct with respect to body 1 only (or body 2 if you specified body 1 as zero in the dJointAttach() function).

The default anchor for all joints is (0,0,0). The default axis for all joints is (1,0,0).
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does this mean the anchor point is relative to body1 ?