Is there a way I could move a sphere object in circular trajectory or any trajectory for that matter?

I have 6 DOF Yaskawa Motoman HC10DT arm in Isaac Sim. I am trying to conduct a reinforcement learning experiment where a point/ DynamicSphere object is spawned in front of the robotic arm and robotic arm tries to reach it.

I would now like to move this dynamic sphere in some trajectory. I could not find a way (yet) to do that.
I would love any suggestions/inputs on how to move a sphere object or any other object for that matter in a certain trajectory.