Professional rock wall builders use a stone grab that can rotate as well as grab and has a wrist joint.
http://i01.i.aliimg.com/photo/v2/128799447/Hydraulic_Rotating_Excavator_Grab.jpg
This may give you some ideas
http://i01.i.aliimg.com/photo/v2/128799447/Hydraulic_Rotating_Excavator_Grab.jpg
This may give you some ideas