Removed OVRTX 0.2.x compatibility code paths

[huidongc]

Description

Removed OVRTX 0.2.x compatibility code paths from :class:~isaaclab_ov.renderers.OVRTXRenderer.

Type of change

• Code cleanup

Checklist

• I have read and understood the contribution guidelines
• I have run the pre-commit checks with ./isaaclab.sh --format
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• I have updated the changelog and the corresponding version in the extension's config/extension.toml file
• I have added my name to the CONTRIBUTORS.md or my name already exists there

[isaaclab-review-bot]

Good cleanup removing OVRTX 0.2.x compatibility code. The simplification of the codebase by removing version checks, fallback paths, and the _usd_handles tracking mechanism is welcome.

I noticed one issue to address:

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Update (ea9f0d8):
✅ Both issues from my previous review have been addressed:

1. Legacy kernels removed from ovrtx_renderer_kernels.py
2. Exception handling added around reset_stage()

LGTM

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Update (26b6953):
Reviewed additional test cleanup: removed legacy kernel test classes (TestExtractAllDepthTilesKernelLegacy, TestRandomColorsFromIdsKernelLegacy) and associated imports/references. Clean test maintenance aligning with kernel removals.

✅ No issues found in the incremental changes.

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Update (cc7b3d1):
Minor changelog wording refinement: "compatibility code paths" → "legacy OVRTX 0.2.x code paths". No functional changes.

✅ No issues.

[greptile-apps]

Greptile Summary

This PR removes all OVRTX 0.2.x compatibility code paths from OVRTXRenderer, assuming OVRTX ≥ 0.3.0 as the minimum supported version. The version-gated branching (_IS_OVRTX_0_3_0_OR_NEWER) is eliminated throughout the renderer and USD helper.

• ovrtx_renderer.py: Drops _OVRTX_VERSION/_IS_OVRTX_0_3_0_OR_NEWER constants, removes legacy kernel imports (extract_all_depth_tiles_kernel_legacy, generate_random_colors_from_ids_kernel_legacy), unconditionally sets read_gpu_transforms=True, and replaces the per-handle remove_usd cleanup loop with a single reset_stage() call.
• ovrtx_usd.py: Removes the enable_scene_partition_workaround parameter from create_scene_partition_attributes; the function now exclusively writes omni:scenePartition on Camera prims via a continue-based guard, dropping the primvars:omni:scenePartition fallback that was needed for OVRTX < 0.3.0's missing primvar inheritance.

Confidence Score: 4/5

Safe to merge; the cleanup is mechanical and the logic is straightforward, with one minor gap in error handling during teardown.

The reset_stage() call in cleanup() is now unguarded: if it throws, self._renderer is never nulled out, leaving the renderer in a partially torn-down state on any subsequent cleanup attempt. The previous remove_usd loop wrapped each call in a try/except so teardown always completed. All other removals are clean and correct.

The cleanup method in ovrtx_renderer.py deserves a second look for the missing exception guard around reset_stage().

Important Files Changed

Filename	Overview
source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py	Removes all OVRTX 0.2.x version-gated branches: drops _IS_OVRTX_0_3_0_OR_NEWER flag, switches USD loading unconditionally to open_usd_from_string, replaces per-handle remove_usd cleanup with reset_stage() (now without exception handling), and eliminates legacy kernel variants.
source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_usd.py	Removes enable_scene_partition_workaround parameter and the associated primvars:omni:scenePartition loop over non-camera prims; logic is simplified to a continue-based guard that only writes omni:scenePartition on Camera prims.
source/isaaclab_ov/changelog.d/remove-legacy-ovrtx-code-path.rst	New changelog fragment documenting the removal of OVRTX 0.2.x compatibility code paths.

Flowchart

%%{init: {'theme': 'neutral'}}%%
flowchart TD
    A[OVRTXRenderer.__init__] --> B[create_render_data]
    B --> C{_initialized_scene?}
    C -- No --> D[_initialize_from_spec]
    D --> E[build_render_product_as_string]
    E --> F[Combine exported USD + render product string]
    F --> G{temp_usd_dir set?}
    G -- Yes --> H[Write combined USD to file for debugging]
    H --> I[open_usd_from_string]
    G -- No --> I
    I --> J{use_ovrtx_cloning?}
    J -- Yes --> K[_clone_environments_in_ovrtx + _update_scene_partitions_after_clone]
    K --> L[bind_attribute cameras + objects]
    J -- No --> L
    L --> M[render loop: update_camera to step to _process_render_frame]
    M --> N[cleanup: unbind to reset_stage]

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