Maybe there is an easier solution before going to the INSTATE command for my problem.
As you can see in the image below I would insert the tool on the left inside the pipe, and then later, once it is inside, lock the tip and rotate the tool to check the twist. The problem is locking the tip, I've tried creating a coordinate system with an axis as parallel as possible to the end of the pipe and locking the rotations around that axis but it doesn't work. As soon as the third substep starts, the solution does not converge. Do you have any advice on how to solve this problem?
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