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#     http://www.apache.org/licenses/LICENSE-2.0
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"""
Combine MSD Example

This example demonstrates how to combine multiple models together using
the World.attach() method. The new API allows you to:

1. Load multiple model files
2. Attach them together with optional transformations (translation, rotation)
3. Add prefixes/suffixes to avoid name conflicts
4. Extract subtrees from models before attaching
5. Build the final combined model for simulation
"""

# tag::combine_msd_example[]
import time

import motrixsim as mx

# Load the base scene
msd_scene = mx.msd.from_file("examples/assets/store/scene.xml")

# Load a dog model and attach an arm to it
msd_dog = mx.msd.from_file("examples/assets/boston_dynamics_spot/spot.xml")
msd_arm = mx.msd.from_file("examples/assets/stanford_tidybot_adhesion/tidybot.xml")
# Attach arm subtree to the dog's hip link
msd_dog.attach(
    msd_arm,
    self_link_name="hl_hip",
    other_link_name="bracelet_link",  # Extract subtree from arm
    other_rotation=[-0.71, 0, 0, 0.71],  # Rotate 90 degrees around X axis
    other_prefix="arm_",
)

# Attach multiple dogs to the scene at different positions
# Note: other is cloned internally, so msd_dog can be reused
msd_scene.attach(msd_dog, other_translation=[1, 0, 0], other_prefix="dog0_")
msd_scene.attach(msd_dog, other_translation=[2, 0, 0], other_prefix="dog1_")
msd_scene.attach(msd_dog, other_translation=[3, 0, 0], other_prefix="dog2_")

# Build the final model
model = msd_scene.build()

with mx.render.RenderApp("warn") as render:
    render.launch(model)
    data = mx.SceneData(model)

    while True:
        time.sleep(model.options.timestep)
        mx.step(model, data)
        render.sync(data)
# end::combine_msd_example[]