"""Find what's colliding right at the plow pile-up point, and check Track_06's drive."""
import omni.usd
from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema

stage = omni.usd.get_context().get_stage()
bbc = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render])

print("=== everything with a collider near the plow (x -8.3..-7.0, y -0.6..0.9, z 1.7..2.6) ===")
for p in stage.Traverse():
    has_col = (p.HasAPI(UsdPhysics.CollisionAPI) or p.HasAPI(UsdPhysics.MeshCollisionAPI))
    if not has_col:
        continue
    attr = p.GetAttribute("physics:collisionEnabled")
    enabled = attr.Get() if attr and attr.HasAuthoredValue() else True
    if not enabled:
        continue
    r = bbc.ComputeWorldBound(p).ComputeAlignedRange()
    if r.IsEmpty():
        continue
    mn, mx = r.GetMin(), r.GetMax()
    if mx[0] < -8.3 or mn[0] > -7.0 or mx[1] < -0.6 or mn[1] > 0.9 or mx[2] < 1.7:
        continue
    approx = None
    if p.HasAPI(UsdPhysics.MeshCollisionAPI):
        a = p.GetAttribute("physics:approximation")
        approx = a.Get() if a else None
    print(f"  {p.GetPath()}  type={p.GetTypeName()}  approx={approx}")
    print(f"     x[{mn[0]:+.2f}..{mx[0]:+.2f}] y[{mn[1]:+.2f}..{mx[1]:+.2f}] z[{mn[2]:+.2f}..{mx[2]:+.2f}]")

print("\n=== ConveyorTrack_06/Belt drive + friction ===")
belt = stage.GetPrimAtPath("/World/ConveyorTrack_06/Belt")
print("  applied schemas:", list(belt.GetAppliedSchemas()))
sv = belt.GetAttribute("physxSurfaceVelocity:surfaceVelocity")
print("  surfaceVelocity:", sv.Get() if sv else None)
en = belt.GetAttribute("physxSurfaceVelocity:surfaceVelocityEnabled")
print("  surfaceVelocityEnabled:", en.Get() if en else None)
from pxr import UsdShade
api = UsdShade.MaterialBindingAPI(belt)
mat, rel = api.ComputeBoundMaterial(materialPurpose="physics")
print("  physics material:", mat.GetPath() if mat else None)
if mat:
    m = UsdPhysics.MaterialAPI(mat.GetPrim())
    print("    static/dynamic friction:", m.GetStaticFrictionAttr().Get(), m.GetDynamicFrictionAttr().Get())