Single DOF Robot Arm Controller

Hi Team,

As depicted in the image,

I intend to move these two highlighted joints simultaneously. In the initial position of the robot, as shown in the image, I can achieve simultaneous movement of the highlighted joints using a Single Degree of Freedom (DOF) controller Python code.

However, in the subsequent image, at this stage…

We cannot move the joint simultaneously in the correct manner using a Single Degree of Freedom (DOF) controller Python code.

Expected Movement:

Our objective is to move the highlighted joints in a manner where they move synchronously, but with joint 1 moving at a slower speed and joint 2 moving at a faster speed, utilizing Python code.

I am using Ubuntu 20.04 with Isaac Sim version 2023.1.1.
I am using this link as the referral: Robot Simulation — Omniverse IsaacSim latest documentation

Could someone please suggest a suitable solution?