"""Does the threading violation clear if we just retry Scene.Define a few times?
Never let an exception escape this script so stdout survives regardless of outcome."""
import asyncio
import omni.usd
from pxr import UsdPhysics
import isaacsim.core.experimental.utils.app as app_utils

omni.usd.get_context().open_stage("/home/dasha/robozon-sorter/scene/plow_cell_90_45_test.usd")
print("opened, waiting...")
await app_utils.update_app_async(steps=120)
await asyncio.sleep(3.0)
await app_utils.update_app_async(steps=60)
stage = omni.usd.get_context().get_stage()
print("stage settled, prim count:", len(list(stage.Traverse())))

for attempt in range(8):
    try:
        scene = UsdPhysics.Scene.Define(stage, "/World/PhysicsScene").GetPrim()
        print(f"attempt {attempt}: SUCCESS, prim valid={scene.IsValid()}")
        break
    except BaseException as exc:
        print(f"attempt {attempt}: FAILED, type={type(exc).__name__}")
        await app_utils.update_app_async(steps=60)
        await asyncio.sleep(1.0)
else:
    print("all attempts failed")
print("done")