MoveIt2 Servo around offset frame [closed]

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Hello everyone,

I am trying to get my robot (UR10e) to servo with respect to an offset frame. I defined an attached collision object with a subframe, and I would like to get a rotating motion around the z-axis of this particular frame, like so:

auto msg = std::make_unique<geometry_msgs::msg::TwistStamped>();
msg->header.stamp = servo_node->now();
msg->header.frame_id = "object/tip"; // Rotate around the tip of the object
msg->twist.angular.z = 0.5;
twist_pub->publish(std::move(msg));

However, this does not work, there is no movement and I get:

[component_container-5] [ERROR] [1643279679.818895514] [moveit_robot_model.robot_model]: Link 'object/tip' not found in model 'ur'

I know for sure the object and subframe exist. I found in the MoveIt2 Servo tutorial that "TwistStamped: can provide an arbitrary frame_id in the header that the twist will be applied to". Did I then interpret this wrongly? I got this idea from this question, but for example here, getFrameTransform() is suggested if you want to do such thing. I am confused about how to proceed and what the best way of doing this would be. Any hints/explanation/ideas is more than welcome. Thanks!