How can I rotate an object while grabbed using Physics Handle?

I’m recreating the Amnesia physics interaction following this tutorial:

Everything went well, but I also would like to add the posibility to rotate the grabbed object while pressing a key, but he doesn’t explain how to do that and I haven’t found a way to replicate that behaviour. Everything that I’ve tried so far has given wacky results or no results at all.

I’ve tried this:

Does nothing.

I’ve tried this:

Does wacky stuff:

Etc, etc, etc; I’ve tried so many things that I could not be able to replicate all of them and post the failed attemps. I would gladly accept some advice :')

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