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Usually, it is much better to use Gazebo plugins instead of the apply_body_wrench service. The reason is that a Gazebo plugin is run exactly once for every simulation cycle, while the apply_body_wrench service interacts with the simulation in irregular intervals, leading to instabilities.

To do this:

• specify each cubelet in an URDF file
• add a Gazebo controller which excerts the magnetic forces

As an example of how to do this, you can look at the package manipulation_worlds, where they use a Plugin called gazebo_ros_grasp_hack to magically attach a grasped object to the PR2 gripper when both fingers make contact, in order to stop it from jittering out.