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# how to do references to multiple files
import omni.usd
from pxr import UsdGeom

stage = omni.usd.get_context().get_stage()
sphere = stage.OverridePrim('/my_prim')
sphere.GetReferences().AddReference('./HelloWorld0.usda')
sphere.GetReferences().AddReference('./HelloWorld1.usda')

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# USD create camera and set attributes

import omni.usd
from pxr import UsdGeom, Gf, Usd, UsdGeom, Vt, Sdf

stage = omni.usd.get_context().get_stage()
camera = UsdGeom.Camera.Define(stage, f'/Motions/my_camera0')
camera.CreateClippingRangeAttr().Set((1,1000000)) # e.g. (1, 1000000)
# camera.AddTransformOp().Set(tx)

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# USD get prim

import omni.usd
from pxr import UsdGeom

stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath('/Motions')

# look at children of prim and print path as string
target_prim_path = prim.GetAllChildren()[0].GetPath().pathString

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# USD get transform property at path
import omni.usd
prim_path = '/Motions/traj_'
stage = omni.usd.get_context().get_stage()
prop = stage.GetPropertyAtPath(f"{prim_path}.xformOp:transform")
value = prop.Get()
print(value)

# or

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# procedural variants

import omni.usd as _usd

stage = _usd.get_context().get_stage()

rootPrim = stage.GetPrimAtPath('/base_stage')
#rootPrim = stage.GetPseudoRoot()
vset = rootPrim.GetVariantSets()
print(vset.GetNames())

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# import omni.kit.app as _app
# import omni.usd as _usd
# import omni.client
# import omni.renderer_capture
# import omni.timeline
# from omni.kit import app


# USD setting viewport
width = 640

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# Not sure what I have here

# from pxr import Gf, Usd, UsdGeom

# pose = Gf.Matrix4d(0.10028808960009783, 1.0899614544257474e-13, -0.9949584408830167, 0, -0.2896496895839791, 0.9566873438849783, -0.02919560539207469, 0, 0.9518641480843092, 0.29111737504021507, 0.09594434606284785, 0, 170.13235291094, 118.33856922920114, -26.433392816374774, 1)
# rotateAroundX = Gf.Matrix3d(1, 0, 0, 0, 0, -1, 0, 1, 0)
# rotation = pose.ExtractRotation()
# print(f'rotation={rotation}')
# print(f'type(rotation)={type(rotation)}')

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from pxr import UsdGeom, Usd, UsdGeom
stage = Usd.Stage.Open('stage.usda')
device_prim = stage.GetPrimAtPath('/world/device')
for prim in Usd.PrimRange(device_prim):
    if prim.IsA(UsdGeom.Camera):
        print(prim.GetName())

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from pxr import UsdGeom, Usd

stage_path = "D:\\Source\\internal\\projects\\example_simgen\\input\\stage_xxx2usd.usda"
stage = Usd.Stage.Open(stage_path)
prim_path = "/stage/Device_rig"
tx_prop = UsdGeom.Xform.Get(stage, prim_path)
times = tx_prop.GetTimeSamples()
transforms = []
for time in times:
    transforms.append(tx_prop.GetLocalTransformation(time=time))

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xform = UsdGeom.Xform.Define(stage, '/my_prim')