[kellyguo11]

Summary

• Revert the OVRTX source and test changes from open PR Fix legacy OVRTX cloning of instanced geometry and unused variants #7871 that were inadvertently included in release backport [Backport release/3.0.0] Complete develop backports #7851.
• Restore the four affected implementation/test files to the exact develop versions at e8363313c1441788a4619157954b1842d3857759.
• Preserve the older release-only OVRTX mapping compatibility code and existing immutable changelog fragments.
• Add a corrective isaaclab_ov changelog fragment for this release-only revert.

Validation

• tools/changelog/cli.py check --include-worktree against release/3.0.0
• ruff check on the four affected Python files
• ruff format --check on the four affected Python files
• python -m py_compile on the four affected Python files
• git diff --check
• Confirmed no diff versus develop for the four reverted implementation/test files

The OVRTX runtime tests and uv run isaaclab -f cannot resolve on this macOS arm64 host because the project lock supports Linux x86_64/aarch64 and Windows AMD64. Linux PR CI is the authoritative runtime validation.

Type of change

• Bug fix (release alignment)

Checklist

• The reverted implementation and tests match develop
• No docs branch routing changes are included
• Existing changelog compilation/history differences are left untouched
• A new changelog fragment documents the release-only revert

[isaaclab-review-bot]

Isaac Lab Review Bot

The release-branch revert consistently restores the affected OVRTX export behavior and tests to the stated develop baseline while adding the required isaaclab_ov changelog fragment.

• Design and architecture: The reviewed design decision restores full ClonePlan.sources forwarding and removes legacy-only instance expansion. The prepare-stage and USD-export paths remain coherent, with keep_env_roots controlling whether non-source environment roots are retained.
• API: The export_stage_to_string signature, types, defaults, and return contract are unchanged. The behavior restoration is documented by a package-specific, past-tense changelog entry, and no public API removal or migration gap is introduced.
• Implementation: Tracing prepare_stage through _collect_prims_to_deactivate shows that nonexistent variant source rows are harmless because traversal operates on actual stage prims and uses source paths only for equality and prefix matching. The removed make_uninstanceable call, import, and corresponding tests are internally consistent with the intended revert. Runtime behavior for nested instanceable visuals returns to the develop implementation, which is the explicit scope of this corrective release change.

No blocking issues. No inline issue met the actionable-evidence threshold; the assessment above records the review feedback.

Automated review; human maintainers own approval decisions.

[greptile-apps]

Confidence Score: 4/5

This PR is not safe to merge until nested instance expansion is retained for the default legacy OVRTX cloning path.

Findings

1.  Nested visuals disappear ▶

Summary

This PR reverts OVRTX cloning changes that were unintentionally included in the release branch and adds a corrective changelog fragment.

• Restores passing all clone-plan source rows into USD export.
• Removes export-time expansion of nested instances from the legacy cloning path.
• Removes the corresponding regression tests.
• The nested-instance rollback reintroduces missing visual geometry for assets cloned through the default legacy backend.

Diagram

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[OVRTX prepare_stage] --> B{ovstage explicitly enabled?}
    B -->|No: default| C[Export with keep_env_roots]
    C --> D[Nested instances remain instance proxies]
    D --> E[Open exported USD in renderer]
    E --> F[Native renderer.clone_usd]
    F --> G[Instanced visual geometry omitted]
    B -->|Yes| H[ovstage Stage.clone path]

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_{Reviews (1) · Last reviewed commit: "Revert unmerged OVRTX cloning changes"}

[greptile-apps]

Nested visuals disappear

When the default legacy renderer.clone_usd path exports a source asset containing nested instances, this removal leaves those instances as proxies. Legacy cloning then omits their visual geometry, so cloned environments can render without those visuals. Please retain the expansion on the anonymous export stage so the simulation stage remains unchanged.

[kellyguo11]

run-ci

[kellyguo11]

run-ci