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/tasks/banana.py

@@ -335,6 +335,14 @@ class BananaBaseTask(BaseTask):
         orientation = get_orientation(cfg.get("euler"), cfg.get("quaternion"))
         obj.set_local_pose(translation=cfg.get("translation"), orientation=orientation)
         obj.set_local_scale(cfg.get("scale", [1.0, 1.0, 1.0]))
+        # [LOAD_DBG] Print after set_local_pose
+        try:
+            from pxr import UsdGeom
+            _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+            for _op in _xf.GetOrderedXformOps():
+                print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[LOAD_DBG] {cfg['name']} after_set_local_pose error: {_e}", flush=True)
         obj.set_visibility(cfg.get("visible", True))
 
         # Extra behavior per type
@@ -490,7 +498,7 @@ class BananaBaseTask(BaseTask):
             if cfg.get("apply_randomization", False):
                 envmap_id = random.randint(0, len(envmap_hdr_path_list) - 1)
                 intensity = random.uniform(cfg["intensity_range"][0], cfg["intensity_range"][1])
-                rotation = [random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1]) for _ in range(3)]
+                rotation = [0.0, 0.0, random.uniform(cfg["rotation_range"][0], cfg["rotation_range"][1])]
             else:
                 envmap_id = 0
                 intensity = 1000.0