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>

workflows/simbox/core/controllers/template_controller.py

@@ -249,6 +249,12 @@ class TemplateController(BaseController):
         obstacles = self.usd_help.get_obstacles_from_stage(
             ignore_substring=self.ignore_substring, reference_prim_path=self.reference_prim_path
         ).get_collision_check_world()
+        # Diagnostic: print what curobo sees as the collision world
+        n_cuboid = len(obstacles.cuboid) if obstacles.cuboid else 0
+        n_mesh = len(obstacles.mesh) if obstacles.mesh else 0
+        mesh_names = [m.name for m in obstacles.mesh] if obstacles.mesh else []
+        print(f"[CUROBO_WORLD] cuboids={n_cuboid}, meshes={n_mesh}, "
+              f"mesh_names={mesh_names[:5]}{'...' if n_mesh > 5 else ''}", flush=True)
         if self.motion_gen is not None:
             self.motion_gen.update_world(obstacles)
         self.world_cfg = obstacles
@@ -277,6 +283,10 @@ class TemplateController(BaseController):
         self.T_world_base_init = get_relative_transform(
             get_prim_at_path(self.robot_base_path), get_prim_at_path(self.task.root_prim_path)
         )
+        print(f"[TRANSFORM_DBG] robot_base_path={self.robot_base_path}", flush=True)
+        print(f"[TRANSFORM_DBG] root_prim_path={self.task.root_prim_path}", flush=True)
+        print(f"[TRANSFORM_DBG] T_world_base_init translation={self.T_world_base_init[:3, 3]}", flush=True)
+        print(f"[TRANSFORM_DBG] T_world_base_init full=\n{self.T_world_base_init}", flush=True)
         self.T_world_ee_init = self.T_world_base_init @ self.T_base_ee_init
         self._ee_trans, self._ee_ori = self.get_ee_pose()
         self._ee_trans = self.tensor_args.to_device(self._ee_trans)