"""Skip reopening the stage - it's already loaded (367 prims). Just prepare() it in place
to test whether the threading violation is specific to the reopen, not to editing per se."""
import sys
REPO = "/home/dasha/robozon-sorter"
if REPO not in sys.path:
    sys.path.insert(0, REPO)
for _m in [k for k in list(sys.modules) if k.startswith("robozon_sorter")]:
    del sys.modules[_m]
import importlib
importlib.invalidate_caches()

import omni.usd
import isaacsim.core.experimental.utils.app as app_utils
from robozon_sorter.sim import plow_cell_9045

stage = omni.usd.get_context().get_stage()
print("current stage:", stage.GetRootLayer().identifier, "prims:", len(list(stage.Traverse())))

info = await plow_cell_9045.prepare(stage, belt_speed=1.0, script_control=True)
print("prepare OK:", info)