fix: IS 4.5.0 -> 5.0.0 migration — USD metadata, DomeLight, scene reuse

- Fix USD metersPerUnit/upAxis for IS 5.0.0 (no longer auto-compensated)
- Batch fix all Aligned_obj.usd, table, and art USD files with backups
- Fix DomeLight rotation to Z-axis only (prevent tilted environment map)
- Fix scene reuse across episodes (arena_file caching, task clearing, prim guard)
- Add migration tools: scan_usd_metadata.py, fix_usd_metadata.py
- Add migration guide: migerate/migerate.md
- Add nvidia-curobo to .gitignore
- Fix sort_the_rubbish config: obj_0 -> obj_1 (obj_0 does not exist)

Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>

install.md

@@ -0,0 +1,33 @@
+conda create -n banana450 python=3.10
+conda activate banana450
+# 看看12.8安装了么？
+conda list | grep cuda 
+# 安装12.8
+conda install -y cuda-toolkit=12.8 
+# 其他的cuda版本在conda中的需要卸载
+conda list | grep cuda 
+source ~/isaacsim450/setup_conda_env.sh 
+# 导入conda环境的12.8cuda环境
+export CUDA_HOME="$CONDA_PREFIX"
+export PATH="$CONDA_PREFIX/bin:$PATH"
+# 看一下应该是12.8
+nvcc -V 
+# 换掉torch版本，换成cu128编译的版本
+pip list | grep torch
+pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu128
+pip list | grep torch
+pip install -r requirements.txt
+pip list | grep cuda
+# 卸载掉cu11的那些包
+pip uninstall nvidia-cuda-cupti-cu11 nvidia-cuda-nvrtc-cu11 nvidia-cuda-runtime-cu11
+
+# 安装curobo
+cd workflows/simbox/curobo
+# 12.0是显卡的算力 要自己去查 不要信AI的 PRO6000是12.0
+export TORCH_CUDA_ARCH_LIST="12.0+PTX"
+pip install -e .[isaacsim] --no-build-isolation
+
+# 降级numpy
+pip install numpy==1.26.0
+pip install opencv-python==4.11.0.86
+python launcher.py --config configs/simbox/de_plan_and_render_template.yaml