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jbriones02jbriones02 Posts: 4 Apprentice
DoF,

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/direction is greatly appreciated.

Josh


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