How to rotate GEOM_BOX about its end instead of center of mass?

[DrPhil]

Hi there,

I want to rotate a primitive shape, a p.GEOM_BOX, about its end, instead of about its center of mass.

A very simple standalone chunk of code is here

https://github.com/MachineLearningLab-A ... er_demo.py

Pressing 6 or 7 on your keyboard attempts to rotate the end, but does not quite produce the desired results.

Is it possible to rotate around the end, rather than the center of mass?