refactor(tasks): seed-contract for the 4 maniskill leaf reset() overrides (#794)

draw_svg/draw_triangle/lift_peg_upright carried the byte-identical
'skip checker reset' override (jumping to BaseTaskEnv.reset, dropping seed);
roll_ball overrode reset to clear cached reached-status, also without seed.

Add skip_checker_reset (default False) to ManiskillBaseTask (mirrors the
libero_90 fix) and collapse the 3 skip-leaves to the flag; seed-forward
roll_ball's override. Behaviour preserved. Shrinks the reset(seed)
conformance allowlist by 4.

Author: geng-haoran

roboverse_pack/tasks/maniskill/draw_svg.py

@@ -27,7 +27,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         return torch.zeros(self.num_envs, dtype=torch.bool, device=self.device)
 
     # rewrite checker
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(ManiskillBaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/maniskill/draw_triangle.py

@@ -27,7 +27,4 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         return torch.zeros(self.num_envs, dtype=torch.bool, device=self.device)
 
     # rewrite checker
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(ManiskillBaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset

roboverse_pack/tasks/maniskill/lift_peg_upright.py

@@ -52,10 +52,7 @@ def _terminated(self, states: TensorState) -> torch.Tensor:
         return pos_condition & quat_condition
 
     # rewrite checker
-    def reset(self, states=None, env_ids=None):
-        """Skip checker reset."""
-        states = super(ManiskillBaseTask, self).reset(states, env_ids)
-        return states
+    skip_checker_reset = True  # inherit BaseTaskEnv.reset(seed=); skip per-reset checker reset
 
 
 # ---------------------------------------------------------------------------

roboverse_pack/tasks/maniskill/maniskill_base.py

@@ -16,6 +16,10 @@ class ManiskillBaseTask(BaseTaskEnv):
     max_episode_steps = 250
     checker = None
     traj_filepath = None
+    # Some leaves (draw_svg/draw_triangle/lift_peg_upright) intentionally skip the
+    # per-reset checker reset. Set this True on a leaf instead of overriding reset,
+    # so the seed-aware base reset() 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)
@@ -27,9 +31,13 @@ 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``.
+        """
         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/maniskill/roll_ball.py

@@ -120,9 +120,12 @@ def _ensure_status(self, n: int, device) -> None:
         if getattr(self, "_reached_status", None) is None or self._reached_status.shape[0] != n:
             self._reached_status = torch.zeros(n, device=device)
 
-    def reset(self, states=None, env_ids=None):
-        """Reset the env and clear cached reached status for the given env ids."""
-        out = super().reset(states, env_ids)
+    def reset(self, states=None, env_ids=None, seed=None):
+        """Reset the env and clear cached reached status for the given env ids.
+
+        ``seed`` is forwarded to ``super().reset``.
+        """
+        out = super().reset(states, env_ids, seed)
         if getattr(self, "_reached_status", None) is not None:
             if env_ids is None:
                 self._reached_status.zero_()

tests/test_task_reset_seed_contract.py

@@ -46,10 +46,6 @@
     "beyondmimic/metasim/envs/base_legged_robot.py",
     "beyondmimic/metasim/mdp/commands.py",
     "libero/native_libero.py",
-    "maniskill/draw_svg.py",
-    "maniskill/draw_triangle.py",
-    "maniskill/lift_peg_upright.py",
-    "maniskill/roll_ball.py",
     "mjlab/cartpole_train.py",
     "mjlab/mdp/commands.py",
     "mjlab/mdp/sensors.py",