refactor(tasks): collapse 62 libero_90 leaf reset() overrides into a base flag (#793)

Every libero_90 leaf carried a byte-identical reset() override whose only
purpose was to skip the per-reset checker reset (it called
super(Libero90BaseTask, self).reset to jump past the base's checker reset).
Those 62 overrides dropped the seed parameter, breaking env.reset(seed=).

Replace them with a single class attribute: Libero90BaseTask gains
skip_checker_reset (default False) and its reset() skips the checker reset when
the flag is set. Leaves that previously overrode reset now just set
skip_checker_reset = True and inherit the seed-aware base reset() — behaviour is
identical (skip-leaves still skip; the few non-overriding leaves keep the
default checker reset). Net -237 lines, 62 fewer reset overrides.

Shrinks the reset(seed) conformance allowlist from 90 to 28 (P1).

Author: geng-haoran

roboverse_pack/tasks/libero_90/libero_90_base.py

@@ -24,6 +24,11 @@ class Libero90BaseTask(BaseTaskEnv):
     checker = None
     traj_filepath = None
     decimation = 30
+    # Most libero_90 leaves intentionally skip the per-reset checker reset. Setting
+    # this True on a leaf reproduces the old ``reset`` override (which jumped to
+    # ``BaseTaskEnv.reset`` to bypass the checker reset) without overriding ``reset``
+    # — so the seed-aware base ``reset`` signature is inherited unchanged.
+    skip_checker_reset = False
 
     def __init__(self, scenario: ScenarioCfg, device: str | torch.device | None = None) -> None:
         check_and_download_single(self.traj_filepath)
@@ -35,9 +40,15 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         return self.checker.check(self.handler, states)
 
     def reset(self, states=None, env_ids=None, seed=None):
-        """Reset the checker. ``seed`` is forwarded to ``super().reset``."""
+        """Reset the env; reset the checker unless ``skip_checker_reset`` is set.
+
+        ``seed`` is forwarded to ``super().reset``. Leaves that set
+        ``skip_checker_reset = True`` get the old "skip checker reset" behaviour
+        without overriding ``reset`` (so the seed contract is preserved).
+        """
         states = super().reset(states, env_ids, seed)
-        self.checker.reset(self.handler, env_ids=env_ids)
+        if self.checker is not None and not self.skip_checker_reset:
+            self.checker.reset(self.handler, env_ids=env_ids)
         return states
 
     def _get_initial_states(self) -> list[dict] | None:

roboverse_pack/tasks/libero_90/libero_kitchen_scene10_close_the_top_drawer_of_the_cabinet.py

@@ -94,7 +94,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         drawer_closed = cabinet_joint_pos > -0.01  # (N,) - closed when joint_pos is near 0
         return drawer_closed
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it.py

@@ -123,7 +123,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         is_success = drawer_closed & bowl_on_cabinet  # (N,)
         return is_success
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet.py

@@ -118,7 +118,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
 
         return bowl_in_drawer
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it.py

@@ -124,7 +124,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         is_success = butter_in_drawer & drawer_closed  # (N,)
         return is_success
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it.py

@@ -124,7 +124,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         is_success = butter_in_drawer & drawer_closed  # (N,)
         return is_success
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it.py

@@ -126,7 +126,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         is_success = pudding_in_drawer & drawer_closed  # (N,)
         return is_success
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene1_open_drawer_put_bowl.py

@@ -130,7 +130,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:  # 需要仔细检
         return inside
 
     # rewrite checker
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene1_put_the_black_bowl_on_the_plate.py

@@ -117,7 +117,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         return is_on_plate
 
     # rewrite checker
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/libero_90/libero_kitchen_scene1_put_the_black_bowl_on_top_of_the_cabinet.py

@@ -120,7 +120,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         # print('Bowl on top of the cabinet:', inside)
         return inside
 
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(Libero90BaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset