constraintplanning in local coordinate?

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constraintplanning in local coordinate?

softy
Hi,
i wondering if is possible to setup MoveHandToPosition in local direction... or in global but not strictly aligned to global.
If I understand. In constraintplanning I had a vconstraintfreedoms where i can turn on or off rotation and translation in each direction. But it is only in global frame. I need to move straight  (very small shakes/error is allowed - let say 5mm) in like 75deg direction upwards (global Z).
It is possible ?

Thanks, Tomas