In VR, how to grab an object and, using a key on the DS4, make it rotate by 90 degre while your holding it in mid air ?

My aim is to manipulate objects in my game the way you do it in Dreams create mode, ie you grab it and at the same time you make it rotate on himself.
My object is moveable and as soon as I grab it, key frames or teleport don’t work anymore. If I use the grabbed output of a grab gadget placed on the object to ensure that the object is no more moveable when grabbed, I can teleport it ... but when I release it I can’t give it an impulse with my hand to throw it away, for instance (as you could if the object was moveable all the time you grab it). I hope it makes sens and someone understand what I mean ! 😳