Moving static character's limbs in game

Hi,
I’m wanting to be able to move a static character’s limbs real time in my game without any animation involved. How should I go about doing this?

So the player should be able to walk up to this static character, click on whatever they want to move (the hand for example) and then through rotating or translating be able to move that limb to wherever they want.

Thanks in advance :slight_smile: