[TUTORIAL] Physics Handle / Pick Up Physics Objects

Is it possible to use this tutorial as base and modify it something similar to Portal 2?
I would need this pick up object interaction, but the object being held in place and always snaps back to it’s original rotation(XYZ).
I also had an issue with this. When I hold an object, when I rotate, the object does not rotate with the player, instead it stays in it’s rotation when it was picked up.
So in summary, can this be modified to be something like in Portal 2?
If yes, then can some1 guide me through please?