How to create mechanism with multiple pivot points

aparsley
✭
in RobotStudio
I'm trying to create a mechanism with a pneumatic actuator. The actuator will extend (J2),which will rotate the "clamp" (J3/J4) (holding the workpiece). The clamp pivots on the actuator (J3), and also on the base (J4) (baselink). The actuator is also free to pivot at its base (J1). I have tried creating a mechanism, but keeps saying "unable", even though I have all green check marks.
Here is an image of the intent, and also a .step file that contains the CAD models.
Any help would be great. Thanks!
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