"""Check for gaps/height-mismatches at every belt-to-belt handoff seam, and compare
plow_cell.usd's own reference grip-material setup against what we're using."""
import omni.usd
from pxr import Usd, UsdGeom, UsdShade, UsdPhysics

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

def report(path):
    prim = stage.GetPrimAtPath(path)
    if not prim.IsValid():
        print(f"  {path}  MISSING"); return None
    r = bbc.ComputeWorldBound(prim).ComputeAlignedRange()
    mn, mx = r.GetMin(), r.GetMax()
    api = UsdShade.MaterialBindingAPI(prim)
    mat, _ = api.ComputeBoundMaterial(materialPurpose="physics")
    fric = None
    if mat:
        m = UsdPhysics.MaterialAPI(mat.GetPrim())
        fric = (round(m.GetStaticFrictionAttr().Get(),2), round(m.GetDynamicFrictionAttr().Get(),2))
    print(f"  {path}")
    print(f"     x[{mn[0]:+.3f}..{mx[0]:+.3f}] y[{mn[1]:+.3f}..{mx[1]:+.3f}] z[{mn[2]:+.3f}..{mx[2]:+.3f}]  friction={fric}  mat={mat.GetPath() if mat else None}")
    return mn, mx

print("=== pusher handoff: ConveyorTrack_03/Belt -> Belt_01 ===")
b1 = report("/World/ConveyorTrack_03/Belt")
b2 = report("/World/ConveyorTrack_03/Belt_01")
if b1 and b2:
    print(f"     Y GAP (belt max_y to branch min_y): {b2[0][1]-b1[1][1]:+.3f} m   Z step: {b2[0][2]-b1[1][2]:+.3f} m")

print("\n=== plow handoff: ConveyorTrack_04 -> decks -> ConveyorTrack_06 / _01 ===")
for path in ["/World/ConveyorTrack_04/Belt", "/World/PlowTransition_B", "/World/PlowCornerDeck_B",
             "/World/ConveyorTrack_01/Belt", "/World/PlowTransition_C", "/World/PlowCornerDeck_C",
             "/World/ConveyorTrack_06/Belt"]:
    report(path)

print("\n=== reference: plow_cell.py's own GRIP_MATERIAL values ===")
import sys
sys.path.insert(0, "/home/dasha/robozon-sorter")
from robozon_sorter.sim import plow_cell as _pc
grip = stage.GetPrimAtPath(_pc.GRIP_MATERIAL)
print("  GRIP_MATERIAL path:", _pc.GRIP_MATERIAL, " valid:", grip.IsValid())
if grip.IsValid():
    m = UsdPhysics.MaterialAPI(grip)
    print("  static/dynamic:", m.GetStaticFrictionAttr().Get(), m.GetDynamicFrictionAttr().Get())