Kangaroo animation of rigid bodies

I’m a bit lost here, trying to animate a simulation of a chain like assembly.
I got as far as in the attached definition, by rotating the whole assembly and then refreshing the solver.
Ideally I’d like the orange body to rotate at constant velocity with the solver running, guess like an automated drag. I messed around a bit with the step solver, but can’t get it set up right - anyhow, not sure what to try next, would appreciate a hint in the right direction.

animate_chain.gh (35.2 KB)