Adding a gripper as revolute joint

I have these suction cups added to the gripper as a revolute joint but I can’t control the rotation speed. I want to move it like how it rotates in real life with rotation applied so it doesn’t do the whole 360. I don’t find any implementation in samples as well.

have you tried this tutorial yet? 2.4. Assemble a Simple Robot — Omniverse IsaacSim latest documentation