Method attach

dm_control/composer/entity.py:299–317

Attaches an `Entity` without any additional degrees of freedom. Args: entity: The `Entity` to attach. attach_site: (optional) The site to which to attach the entity's model. If not set, defaults to self.attachment_site. Returns: The frame of the attached model.

(self, entity, attach_site=None)

    raise NotImplementedError

  def attach(self, entity, attach_site=None):
    """Attaches an `Entity` without any additional degrees of freedom.

    Args:
      entity: The `Entity` to attach.
      attach_site: (optional) The site to which to attach the entity's model. If
          not set, defaults to self.attachment_site.

    Returns:
      The frame of the attached model.
    """

    if attach_site is None:
      attach_site = self.attachment_site

    frame = attach_site.attach(entity.mjcf_model)
    self._attached.append(entity)
    entity._parent = weakref.ref(self)  # pylint: disable=protected-access
    return frame

  def detach(self):
    """Detaches this entity if it has previously been attached."""