Interaction between robot and moving part of an object

Hi everyone. I’m very new to VisualComponents and KUKA.Sim, but I watched some videos on youtube on modelling objects. Unfortunately, I can’t seem to solve my problem.

I have a buffer with rotational levels: when the robot picks all the objects on one of these levels, he needs to close it and move to the level below.
Hopefully this video clarifies what I’m trying to say:

This is how I modelled my buffer:

How can I do it? Also, on a side note, I’d need to close the level with a CIRC motion, but the robot stops working after executing the CIRC… No idea why.