Custom Physic Handle's "Constrain Rotation"

When picking up an object using a Physic Handle, with the “Grab Component” method, there is an option called “Constrain Rotation”. Is there a way to rotate the object while costrained or a way to make a custom “constrain rotation”? I want the object that gets picked up to keep the same rotation it had before, but still with the physics simultion of “Constrain Rotation” (ex. if you push the object on a surface it turns a little bit, then it gets back in its old position once the pressure is gone), then I want to be able to rotate it manually.
With the constrain option enabled the object is always trying to face the x axis forward while with the option disabled the objects just hangs around the handle.
Any idea?

Thanks a lot!

Don’t know if you still need this, but you can use Grab Component At Location With Rotation, and leave the rotation at 0,0,0.