Rotate component using Manipulator.

Hello,
I would like implement the functionality where I am attaching a manipulator to a component and then use the manipulator's rotation axis to rotate the component along different axes to place it correctly . After rotating the component, I want to save that transformation.
Currently, I can attach the manipulator in rotation mode, but I am unable to rotate the component while dragging the axis. I plan to use more than one axis to position the component correctly. How can I achieve this?

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