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DoF,
direction is greatly appreciated.
I am trying to manipulate a tool (allen key shown as a representation) in such a way that its TCP is fixed in position yet able to rotate about an axis that is
1. Parallel to the Z axis of the gripper
2. A normal distance equal to the Y component of the TCP
Essentially what this would deliver is a continuous rotation around the tip of my thumb (pic far below) while also holding the position of the end of the allen key. As far as I can tell I am able to achieve this by holding down the blue arrow shown in the bottom left corner below. I am unable to replicate this with any sort of program or script. Any help/
Josh