Standalone physics gripper

Hello, I want to make a gripper without a robot arm that picks up a cilinder, turns it around and puts it back on the conveyor. I already moddeled the gripper and turning unit. The signal processing is done by a PLC.

I am really struggling to pick up something with the gripper, I already watched all the tutorials. How can I make the gripper pick up a cilinder from the conveyor and rotate it?

The program with the model
moddeld gripper.vcmx (409.8 KB)

Have you checked this great Add-On?

Thank you very much, it worked immediately!