A basic sphere robot that moves along a plane. The SphereAgent does not have physics - it simply computes its next location and teleports there, as compared to the TurtleAgent which has mass and momentum.

See SphereAgent for more details.

Control Schemes

Sphere discrete (0)

A single-length integer vector that accepts 1 of four possible numbers; 0: move forward, 1: move backward, 2: turn right, 3: turn left

Sphere continuous (1)

A 2-length floating point vector used to specify the agent’s forward speed (index 0) and rotation speed (index 1).


  • CameraSocket located at the front of the sphere body

  • Viewport located behind the agent