After hours of struggles and countless google, here's my workaround solution:
Main problem: the data are stored in AngularJS but AngulatJS could not submit data to database through API due to cross-orign issue. But Web2py could submit data to database using sqlform.
My approach: 1.)When the user click the submit button, invoke 'ng-click="submitBtn()"'. submitBtn() is a function of the ng-controller, which has access to the data. 2.)In submitBtn(), the function first write data into web2py's sqlform through
document.getElementById('inputId').value=$scope.data;
then the function click the sqlform submit button through
document.getElementById('submitBtn').click();
It took me a lot time to figure out those element ids of fields in web2py's auto-generated sqlform. The way to find them is using developers' inspect element tool in a browser and see the source code directly.
Hope this will help someone will face the same issue!