How do I create a robot with no articulations?

[nv-quan]

I want to create a floating ball that I can control using a position target. However, I can't create a robot like that with BaseAgent since it needs to call _load_articulation and apparently my "robot" doesn't have any. I'd appreciate any pointer. Thank you!

[StoneT2000]

Simplest way is to follow the custom robot tutorial using your own custom URDF that has one link for the body, and multiple prismatic joints for x, y, z control (see the floating gripper urdfs for examples).

[nv-quan]

Thanks! I guess this is the proper way. I implemented it in a hacky way by not using BaseAgent and just writing the control code directly inside my env code.