The crane, boom and telescope won’t do the work for you. All they do is follow an attached component. That attached component is the actual tool which can be used to pick and place parts. The tool has to be used by a human, and the tool has to be referenced by name in the task, e.g. Feed.
See attached “Works - Lift Assist.vcmx” which is a simple use case made in 4.1.
Works-Lift-Assist.vcmx (4.83 MB)