"""1) Blade vs item contact height at the pusher. 2) Actual authored deck surfaceVelocity
magnitudes vs the commanded 1.0 m/s - the log showed items crawling 8-50s across ~1-2m
of deck (expected ~1-2s), which smells like the drive_belt() scale-correction being wrong
for these particular Cube prims (same class of bug as ConveyorTrack_04's documented
0.5-scale issue)."""
import omni.usd
from pxr import Usd, UsdGeom, PhysxSchema, Gf

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

print("=== pusher blade vs belt height ===")
blade = stage.GetPrimAtPath("/World/Diverters/DiverterY_Split/Pusher/Geom")
r = bbc.ComputeWorldBound(blade).ComputeAlignedRange()
print(f"  blade z[{r.GetMin()[2]:+.3f}..{r.GetMax()[2]:+.3f}]")
belt = stage.GetPrimAtPath("/World/ConveyorTrack_03/Belt")
r2 = bbc.ComputeWorldBound(belt).ComputeAlignedRange()
print(f"  ConveyorTrack_03/Belt top z={r2.GetMax()[2]:+.3f}")

print("\n=== item rest heights (bottom of bbox) for the 11 named items, unposed ===")
import sys
sys.path.insert(0, "/home/dasha/robozon-sorter")
from robozon_sorter import config as C
items_dir = C.ROOT / "assets" / "items"
for name in ["bottle","box_300x200x200","box_400x400x300","lunchbox","bag","detergent",
             "pouf","pen","plate","cylinder","helmet"]:
    tmp_stage = Usd.Stage.CreateInMemory()
    prim = tmp_stage.DefinePrim("/probe", "Xform")
    prim.GetReferences().AddReference(str(items_dir / f"{name}.usd"))
    bb2 = UsdGeom.BBoxCache(Usd.TimeCode.Default(), [UsdGeom.Tokens.default_, UsdGeom.Tokens.render])
    rr = bb2.ComputeWorldBound(prim).ComputeAlignedRange()
    if rr.IsEmpty():
        print(f"  {name:18s} EMPTY BBOX"); continue
    mn, mx = rr.GetMin(), rr.GetMax()
    print(f"  {name:18s} local z[{mn[2]:+.3f}..{mx[2]:+.3f}] height={mx[2]-mn[2]:.3f}")

print("\n=== deck actual surfaceVelocity (authored) vs commanded speed=1.0 ===")
for path in ["/World/PlowTransition_B", "/World/PlowCornerDeck_B",
             "/World/PlowTransition_C", "/World/PlowCornerDeck_C"]:
    prim = stage.GetPrimAtPath(path)
    if not prim.IsValid():
        print(f"  {path} MISSING"); continue
    sv = prim.GetAttribute("physxSurfaceVelocity:surfaceVelocity")
    v = sv.Get() if sv else None
    mag = (v[0]**2+v[1]**2+v[2]**2)**0.5 if v else 0.0
    # world-space check: transform local surfaceVelocity to world using current xform
    xc = UsdGeom.XformCache()
    M = xc.GetLocalToWorldTransform(prim)
    world_v = M.TransformDir(Gf.Vec3d(*v)) if v else Gf.Vec3d(0,0,0)
    world_mag = world_v.GetLength()
    scale_op = None
    for op in UsdGeom.Xformable(prim).GetOrderedXformOps():
        if op.GetOpType() == UsdGeom.XformOp.TypeScale:
            scale_op = op.Get()
    print(f"  {path}")
    print(f"     local surfaceVelocity={v}  |local|={mag:.3f}  |world|={world_mag:.3f}  scale={scale_op}")