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First ensure the cylinder you are using is created on the grid to begin with. If the cylinder for any reason is not on grid (can happen easily by changing the size of the grid or by switching the grid off etc... then highlight the sculpt by hovering the imp over it and press L1 + triangle to align the grid to the sculpt.
Then for a bolt, attach the two ends anywhere on the the two objects that are to be connected and move the pink part (the bolt part) to the center of your cylinder which should now be on grid. Rotate the bolt using L2 and the right stick so that the hinge rotates in the desired orientation.