addLocalRotation does not take any rotation axis as an input (correct me if i’m wrong).
or, is it possible to say, get the current upvector and the new upvector. then orientate the object in such a way that new orientation has the new upvector?
my axis of rotation is always on the x-y plane passing through the center and this axis is not fixed; it changes all the time
to just make it clear, there are 6 actuators in this stewart platform. so I put cylinder for each actuator and they are attached to the lower platform with spherical joints