Not so far as I know... but you can do a lot with just the moveobjectlocal commands, like rotate an object, then move it locally on X Y and Z, to allow for the new pivot location. The actual values you move by, relate to the pivot offset.
If you had a cube object, 10 units wide, high, and deep - to rate on the corner, you would rotate the cube however you like, but then after rotation, move it locally by 5 on X Y and Z, and it'll be pivoted on it's corner because your moving it locally, so rotation is included in the movement if you know what I mean.
You can make your own object hierarchy system quite easily with this, it's the only way to do effective 3D animation, like position an object and rotate it to be exactly the same as the object it's attaching to, then offset it the same way as I mentioned, then rotate the object for it's own angles... the offset becomes a hinge between the 2 objects.
I am the one who knocks...