How to rotate a grabbed object?

This question has been already asked and I have read other users with the same problem, but I still could not make it work in my case somehow.
What I need to do is simple to grab an object, rotate it with axis input, then release it with the new rotation.

My current state here:

This is exactly what i need:


According what i understand, i cant manage to update the physic handle component to the object rotation.
Some help on this will be very welcome.
Thanks in advance.

I finally managed to solve it myself.
This is the final solution.