"""Find the real D-item collection bin/container geometry near the pusher branch."""
import omni.usd
from pxr import Usd, UsdGeom

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

print("=== config bin constants (old sorter.usd) ===")
import sys
sys.path.insert(0, "/home/dasha/robozon-sorter")
from robozon_sorter import config as C
print(f"BIN_X0={C.BIN_X0} BIN_X1={C.BIN_X1} BIN_Y0={C.BIN_Y0} BIN_Y1={C.BIN_Y1} BIN_LIP_Z={C.BIN_LIP_Z}")

print("\n=== SortingRig subtree (candidate bin location) ===")
p = stage.GetPrimAtPath("/World/SortingRig")
if p.IsValid():
    for c in p.GetChildren():
        r = bbc.ComputeWorldBound(c).ComputeAlignedRange()
        if not r.IsEmpty():
            mn, mx = r.GetMin(), r.GetMax()
            print(f"   {c.GetPath()}  x[{mn[0]:+.2f}..{mx[0]:+.2f}] y[{mn[1]:+.2f}..{mx[1]:+.2f}] z[{mn[2]:+.2f}..{mx[2]:+.2f}]")
else:
    print("   MISSING")

print("\n=== ConveyorTrack_03 subtree (pusher branch) ===")
p = stage.GetPrimAtPath("/World/ConveyorTrack_03")
for c in p.GetChildren():
    r = bbc.ComputeWorldBound(c).ComputeAlignedRange()
    if not r.IsEmpty():
        mn, mx = r.GetMin(), r.GetMax()
        print(f"   {c.GetPath()}  x[{mn[0]:+.2f}..{mx[0]:+.2f}] y[{mn[1]:+.2f}..{mx[1]:+.2f}] z[{mn[2]:+.2f}..{mx[2]:+.2f}]")

print("\n=== search whole stage for Bin-like names ===")
for pr in stage.Traverse():
    nm = pr.GetName().lower()
    if "bin" in nm:
        r = bbc.ComputeWorldBound(pr).ComputeAlignedRange()
        if not r.IsEmpty():
            mn, mx = r.GetMin(), r.GetMax()
            print(f"   {pr.GetPath()}  x[{mn[0]:+.2f}..{mx[0]:+.2f}] y[{mn[1]:+.2f}..{mx[1]:+.2f}] z[{mn[2]:+.2f}..{mx[2]:+.2f}]")