[Test] Generate Franka Pour resets for contrib smoke test

source/isaaclab_tasks/test/core/test_environments.py

@@ -14,6 +14,10 @@
 
 """Rest everything follows."""
 
+import subprocess
+import sys
+from pathlib import Path
+
 import pytest
 
 import isaaclab_tasks  # noqa: F401
@@ -22,6 +26,31 @@
 from env_test_utils import _run_environments, setup_environment  # isort: skip
 
 
+def _ensure_franka_pour_reset_dataset() -> None:
+    """Generate the smallest valid reset dataset when the Pour smoke test needs it."""
+    repo_root = Path(__file__).resolve().parents[4]
+    dataset_path = repo_root / "datasets/franka_pour/reset_dataset.pt"
+    if dataset_path.is_file():
+        return
+
+    subprocess.run(
+        [
+            sys.executable,
+            str(repo_root / "scripts/tools/generate_franka_pour_reset_dataset.py"),
+            "--device",
+            "cuda:0",
+            "--grasping_count",
+            "100",
+            "--non_grasping_count",
+            "6",
+            "--batch_size",
+            "128",
+        ],
+        cwd=repo_root,
+        check=True,
+    )
+
+
 @pytest.mark.parametrize("physics_preset_name", ["newton_mjwarp", "physx", "isaacsim_physx"])
 @pytest.mark.parametrize("num_envs, device", [(2, "cuda"), (1, "cuda")])
 @pytest.mark.parametrize(
@@ -53,4 +82,6 @@ def test_environments(task_name, physics_preset_name, num_envs, device):
 )
 @pytest.mark.isaacsim_ci
 def test_contrib_environments(task_name, num_envs, device):
+    if task_name == "IsaacContrib-Franka-Pour":
+        _ensure_franka_pour_reset_dataset()
     _run_environments(task_name, device, num_envs, create_stage_in_memory=False)