How do I rotate an object in specific axis, with my controller?

Hello, I am new to Unity and Udon Sharp development,

I am looking for a way to let the player have physical interaction with the object. For example, the player can rotate a steering wheel by first grabbing the steering wheel, and the steering wheel can be rotated in a fixed direction as the controller position.

I know my object needs the VRC_Pickup for grabbing, but I am unsure how to track the controller position and make the object rotate with my controller?

please help me, and thank you.