Replacing ArticulationView to enable Force Field

I would like to use the PhysX Force Field API on an ArticulationView. However, this API is not working on articulations as informed in another post.
I am trying to workaround this issue by using RigidBodies, but before I start, I would like to get info from some more experienced users/devs, so:

What is the best way to replace an ArticulationView to use the Force Fields API, having access to similar methods, such as “set_joint_positions?”

Is just RigidBodiesView enough?

No info?