"""Isolated: does _activate_item's write actually stick, and is physics playing?"""
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, omni.timeline
from pxr import Gf, UsdGeom, UsdPhysics, PhysxSchema
import isaacsim.core.experimental.utils.app as app_utils
from isaacsim.core.experimental.prims import RigidPrim
from robozon_sorter import config as C

stage = omni.usd.get_context().get_stage()
tl = omni.timeline.get_timeline_interface()
print("timeline playing (before):", tl.is_playing())

name = "bottle"
prim = stage.GetPrimAtPath(f"/World/Items/{name}")
print("prim valid:", prim.IsValid())
if not prim.IsValid():
    UsdGeom.Xform.Define(stage, "/World/Items")
    prim = UsdGeom.Xform.Define(stage, f"/World/Items/{name}").GetPrim()
    prim.GetReferences().AddReference(str(C.ROOT / "assets" / "items" / f"{name}.usd"))
    xf = UsdGeom.Xformable(prim)
    xf.ClearXformOpOrder()
    xf.AddTranslateOp(precision=UsdGeom.XformOp.PrecisionDouble).Set(Gf.Vec3d(9.0, 5.0, 0.4))
    UsdGeom.Imageable(prim).MakeInvisible()

print("xform ops before activate:", [str(op.GetOpType()) for op in UsdGeom.Xformable(prim).GetOrderedXformOps()])

try:
    for op in UsdGeom.Xformable(prim).GetOrderedXformOps():
        if op.GetOpType() == UsdGeom.XformOp.TypeTranslate:
            op.Set(Gf.Vec3d(C.SPAWN_X, 0.0, C.BELT_Z + 0.05))
            print("translate write: OK")
            break
    UsdPhysics.RigidBodyAPI.Apply(prim)
    UsdPhysics.MassAPI.Apply(prim).CreateMassAttr().Set(0.6)
    px = PhysxSchema.PhysxRigidBodyAPI.Apply(prim)
    px.CreateEnableCCDAttr().Set(True)
    UsdGeom.Imageable(prim).MakeVisible()
    print("physics API apply: OK")
except BaseException as exc:
    print("EXCEPTION during activate:", type(exc).__name__, exc)

# read back the AUTHORED attribute directly (not RigidPrim/Fabric)
attr = prim.GetAttribute("xformOp:translate")
print("authored translate now:", attr.Get() if attr else "NO ATTR")

rp = RigidPrim(paths=[f"/World/Items/{name}"])
print("RigidPrim world pose now:", rp.get_world_poses()[0].numpy()[0])

print("timeline playing (still):", tl.is_playing())
app_utils.play(commit=True)
print("timeline playing (after play() call):", tl.is_playing())
await app_utils.update_app_async(steps=30)
print("RigidPrim world pose after 30 steps of play:", rp.get_world_poses()[0].numpy()[0])
app_utils.stop()