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_dual_workflow.py

@@ -159,13 +159,44 @@ class SimBoxDualWorkFlow(NimbusWorkFlow):
             global_collision_paths,
         )
         self.world.reset()
+        # [RESET_DBG] Check object xformOps right after world.reset()
+        try:
+            from pxr import UsdGeom
+            for obj_name, obj in self.task.objects.items():
+                _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+                for _op in _xf.GetOrderedXformOps():
+                    if 'translate' in _op.GetName().lower():
+                        print(f"[RESET_DBG] {obj_name} after_world_reset: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[RESET_DBG] after_world_reset error: {_e}", flush=True)
+
         self.world.step(render=True)
+        # [RESET_DBG] Check after first world.step(render=True)
+        try:
+            for obj_name, obj in self.task.objects.items():
+                _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+                for _op in _xf.GetOrderedXformOps():
+                    if 'translate' in _op.GetName().lower():
+                        print(f"[RESET_DBG] {obj_name} after_first_step: {_op.GetName()} = {_op.Get()}", flush=True)
+        except Exception as _e:
+            print(f"[RESET_DBG] after_first_step error: {_e}", flush=True)
+
         self.controllers = self._initialize_controllers(self.task, self.task_cfg, self.world)
         self.skills = self._initialize_skills(self.task, self.task_cfg, self.controllers, self.world)
 
-        for _ in range(50):
+        for _i in range(50):
             self._init_static_objects(self.task)
             self.world.step(render=False)
+            # [RESET_DBG] Check at step 0, 1, 49
+            if _i in (0, 1, 49):
+                try:
+                    for obj_name, obj in self.task.objects.items():
+                        _xf = UsdGeom.Xformable(get_prim_at_path(obj.prim_path))
+                        for _op in _xf.GetOrderedXformOps():
+                            if 'translate' in _op.GetName().lower():
+                                print(f"[RESET_DBG] {obj_name} after_warmup_step_{_i}: {_op.GetName()} = {_op.Get()}", flush=True)
+                except Exception as _e:
+                    print(f"[RESET_DBG] after_warmup_step_{_i} error: {_e}", flush=True)
 
         self.logger = LmdbLogger(
             task_dir=self.task_cfg["data"]["task_dir"],