[DO NOT MERGE] Probe Kit configuration selection

.github/actions/install-ci-run/action.yml

@@ -7,13 +7,23 @@ name: 'Run Installation CI Tests'
 description: >
   Runs the install_ci suite inside the project's Docker harness via
   tools/run_install_ci.py and uploads the JUnit XML report as an artifact
-  named install-ci-junit-<runner.arch>.
+  named install-ci-junit-<runner.arch>. When a Testmon data dir is provided,
+  the .testmondata database is also uploaded as install-ci-testmon-<runner.arch>
+  for triage.
 
 inputs:
   base-image:
     description: 'Docker base image for the test container'
     required: false
     default: 'ubuntu:24.04'
+  testmon-data-dir:
+    description: 'Host directory for the persisted Testmon dependency database'
+    required: false
+    default: ''
+  testmon-mode:
+    description: 'Testmon mode: select affected tests, collect a full baseline, or off'
+    required: false
+    default: 'off'
   test-filter:
     description: 'pytest -k expression (empty = run everything)'
     required: false
@@ -33,19 +43,43 @@ runs:
       shell: bash
       env:
         BASE_IMAGE: ${{ inputs.base-image }}
+        TESTMON_DATA_DIR: ${{ inputs.testmon-data-dir }}
+        TESTMON_MODE: ${{ inputs.testmon-mode }}
         TEST_FILTER: ${{ inputs.test-filter }}
       run: |
         args=(docker --gpu --base-image "$BASE_IMAGE"
               --build-wheel
+              --testmon-data-dir "$TESTMON_DATA_DIR"
               --results-dir "${{ github.workspace }}/results"
               -- --tb=short -sv)
+        case "$TESTMON_MODE" in
+          select)
+            if [ -s "$TESTMON_DATA_DIR/.testmondata" ]; then
+              args+=(--testmon --testmon-forceselect)
+            else
+              echo "::warning::Testmon data is missing; collecting a full baseline"
+              args+=(--testmon --testmon-noselect)
+            fi
+            ;;
+          collect) args+=(--testmon --testmon-noselect) ;;
+          off) ;;
+          *) echo "Unknown Testmon mode: $TESTMON_MODE"; exit 1 ;;
+        esac
         [ -n "$TEST_FILTER" ] && args+=(-k "$TEST_FILTER")
         # Make `python3` resolve to the uv-managed 3.12 for build.sh's gen_pyproject.py.
         # --seed installs pip/setuptools/wheel into the venv so build.sh's `python3 -m pip install`
         # works (uv venv is otherwise pip-free).
         uv venv --seed --python 3.12 "${RUNNER_TEMP}/venv-runner"
         source "${RUNNER_TEMP}/venv-runner/bin/activate"
         tools/run_install_ci.py "${args[@]}"
+    - name: Upload Testmon data
+      if: always() && inputs.testmon-data-dir != ''
+      uses: actions/upload-artifact@v7
+      with:
+        name: install-ci-testmon-${{ runner.arch }}
+        path: ${{ inputs.testmon-data-dir }}/.testmondata
+        if-no-files-found: warn
+        retention-days: 7
     - name: Upload JUnit XML report
       if: always()
       id: upload-junit-report

.github/actions/run-package-tests/action.yml

@@ -67,14 +67,6 @@ inputs:
     description: 'Comma-separated list of specific test files to include'
     default: ''
     required: false
-  test-node-ids-file:
-    description: 'TOML file containing exact pytest node IDs to run'
-    default: ''
-    required: false
-  test-node-ids-key:
-    description: 'Top-level key in test-node-ids-file containing the node IDs for this job'
-    default: ''
-    required: false
   pytest-options:
     description: 'Additional pytest options'
     default: ''
@@ -83,6 +75,10 @@ inputs:
     description: 'Space-separated pip packages to install inside the Docker container before pytest starts'
     default: ''
     required: false
+  testmon-mode:
+    description: 'Override Testmon mode with select, collect, or off'
+    default: ''
+    required: false
   wheelhouse-resource:
     description: 'Optional NGC resource containing wheelhouse/ and manifest.json for offline pip installs'
     default: ''
@@ -158,6 +154,33 @@ runs:
         printf "🔵 Image pull took %dm %ds\n" $((elapsed/60)) $((elapsed%60))
         echo "🔵 Docker Image Pulled in ${elapsed}s" >> "$GITHUB_STEP_SUMMARY"
 
+    - name: Select Testmon Mode
+      id: testmon-mode
+      shell: bash
+      env:
+        GH_TOKEN: ${{ github.token }}
+        PR_NUMBER: ${{ github.event.pull_request.number }}
+        REPO: ${{ github.repository }}
+        REQUESTED_MODE: ${{ inputs.testmon-mode }}
+      run: |
+        mode="${REQUESTED_MODE:-collect}"
+        if [ -z "$REQUESTED_MODE" ] && [ "${{ github.event_name }}" = "pull_request" ]; then
+          if changed_files="$(gh api --paginate "repos/$REPO/pulls/$PR_NUMBER/files" --jq '.[].filename')"; then
+            mode="$(printf '%s\n' "$changed_files" | python3 .github/actions/run-package-tests/select_testmon_mode.py)"
+          else
+            echo "::warning::Could not list changed files; running the full test suite"
+          fi
+        fi
+        echo "mode=$mode" >> "$GITHUB_OUTPUT"
+        echo "Testmon mode: $mode" >> "$GITHUB_STEP_SUMMARY"
+
+    - name: Restore Testmon Data
+      if: steps.testmon-mode.outputs.mode != 'off'
+      uses: actions/cache@v4
+      with:
+        path: .testmon/${{ inputs.container-name }}
+        key: testmon-${{ runner.arch }}-${{ inputs.container-name }}-${{ hashFiles('conftest.py', 'tools/conftest.py', 'tools/testmon_subprocess_coverage.py', 'tools/test_settings.py', '.github/actions/run-tests/action.yml', 'docker/Dockerfile.base', 'docker/Dockerfile.curobo', '.github/workflows/config.yaml') }}-${{ github.sha }}
+        restore-keys: testmon-${{ runner.arch }}-${{ inputs.container-name }}-${{ hashFiles('conftest.py', 'tools/conftest.py', 'tools/testmon_subprocess_coverage.py', 'tools/test_settings.py', '.github/actions/run-tests/action.yml', 'docker/Dockerfile.base', 'docker/Dockerfile.curobo', '.github/workflows/config.yaml') }}-
     - name: Restore NGC CLI cache
       if: inputs.wheelhouse-resource != '' && env.NGC_API_KEY != ''
       uses: actions/cache@v4
@@ -298,10 +321,10 @@ runs:
         curobo-only: ${{ inputs.curobo-only }}
         quarantined-only: ${{ inputs.quarantined-only }}
         include-files: ${{ inputs.include-files }}
-        test-node-ids-file: ${{ inputs.test-node-ids-file }}
-        test-node-ids-key: ${{ inputs.test-node-ids-key }}
         volume-mount-source: ${{ github.workspace }}
         extra-pip-packages: ${{ inputs.extra-pip-packages }}
+        testmon-data-dir: .testmon/${{ inputs.container-name }}
+        testmon-mode: ${{ steps.testmon-mode.outputs.mode }}
         wheelhouse-host-dir: ${{ steps.extract-wheelhouse.outputs.wheelhouse_host_dir }}
         wheelhouse-packages: ${{ inputs.wheelhouse-packages }}
         omni-github-test-type: ${{ inputs.omni-github-test-type }}

.github/actions/run-package-tests/select_testmon_mode.py

@@ -0,0 +1,39 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Choose whether Testmon can safely select affected tests for a change."""
+
+from __future__ import annotations
+
+import re
+import sys
+
+_RELEVANT = re.compile(
+    r"^(?:source|docker|tools|apps|scripts)/"
+    r"|^\.github/(?:workflows/[^/]+\.ya?ml|actions/)"
+    r"|^\.gitmodules$"
+    r"|^[^/]+\.(?:toml|yaml|yml|json|ini|cfg|conf|lock|sh|bat|ps1)$"
+)
+_IGNORED_SUFFIXES = (".md", ".rst", ".skip")
+
+
+def _is_tracked_python(path: str) -> bool:
+    """Return whether ``path`` is a Python source file whose dependencies Testmon tracks.
+
+    Python files under ``.github/`` (e.g. action helper scripts) run outside the pytest
+    process, so Testmon has no dependency data for them; changes to those files must fall
+    back to a full collection rather than the Python-only fast path.
+    """
+    return path.endswith(".py") and not path.startswith(".github/")
+
+
+def select_testmon_mode(paths: list[str]) -> str:
+    """Return ``select`` for tracked Python-only changes, otherwise ``collect``."""
+    relevant = [path for path in paths if _RELEVANT.search(path) and not path.endswith(_IGNORED_SUFFIXES)]
+    return "select" if not relevant or all(_is_tracked_python(path) for path in relevant) else "collect"
+
+
+if __name__ == "__main__":
+    print(select_testmon_mode([line.strip() for line in sys.stdin if line.strip()]))

.github/actions/run-package-tests/test_select_testmon_mode.py

@@ -0,0 +1,45 @@
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""Tests for changed-file Testmon mode selection."""
+
+import importlib.util
+from pathlib import Path
+
+_MODULE_PATH = Path(__file__).with_name("select_testmon_mode.py")
+_SPEC = importlib.util.spec_from_file_location("select_testmon_mode", _MODULE_PATH)
+assert _SPEC and _SPEC.loader
+_MODULE = importlib.util.module_from_spec(_SPEC)
+_SPEC.loader.exec_module(_MODULE)
+select_testmon_mode = _MODULE.select_testmon_mode
+
+
+def test_python_only_relevant_changes_select_affected_tests() -> None:
+    assert select_testmon_mode(["source/isaaclab/isaaclab/app.py", "tools/helper.py"]) == "select"
+
+
+def test_irrelevant_changes_select_no_affected_tests() -> None:
+    assert select_testmon_mode(["docs/guide.md", "source/isaaclab/changelog.d/change.skip"]) == "select"
+
+
+def test_static_relevant_change_collects_full_suite() -> None:
+    assert select_testmon_mode(["source/isaaclab/config/extension.toml"]) == "collect"
+
+
+def test_mixed_change_collects_full_suite() -> None:
+    assert select_testmon_mode(["source/isaaclab/code.py", "docker/Dockerfile.base"]) == "collect"
+
+
+def test_workflow_yaml_change_collects_full_suite() -> None:
+    # A workflow change that testmon cannot reason about must run the full suite,
+    # otherwise a workflow-only PR would trigger a job that deselects every test.
+    assert select_testmon_mode([".github/workflows/install-ci.yml"]) == "collect"
+
+
+def test_action_python_change_collects_full_suite() -> None:
+    # Python helpers under .github/actions/ run outside pytest, so testmon has no
+    # dependency data for them; a change to one must run the full suite rather than
+    # taking the Python-only fast path and deselecting every test.
+    assert select_testmon_mode([".github/actions/run-package-tests/select_testmon_mode.py"]) == "collect"

.github/actions/run-tests/action.yml

@@ -61,14 +61,6 @@ inputs:
     description: 'Comma-separated list of specific test file paths to include (e.g., source/pkg/test/test_a.py,source/pkg/test/test_b.py)'
     default: ''
     required: false
-  test-node-ids-file:
-    description: 'TOML file containing exact pytest node IDs to run'
-    default: ''
-    required: false
-  test-node-ids-key:
-    description: 'Top-level key in test-node-ids-file containing the node IDs for this job'
-    default: ''
-    required: false
   shard-index:
     description: 'Zero-based index of this shard (used with shard-count to split tests across parallel jobs)'
     default: ''
@@ -85,6 +77,13 @@ inputs:
     description: 'Space-separated pip packages to install inside the Docker container before pytest starts'
     default: ''
     required: false
+  testmon-data-dir:
+    description: 'Workspace-relative directory for the Testmon dependency database'
+    default: ''
+    required: false
+  testmon-mode:
+    description: 'Testmon mode: select affected tests, collect a full baseline, or off'
+    default: 'off'
   wheelhouse-host-dir:
     description: 'Host directory containing wheelhouse/ and manifest.json for offline pip installs'
     default: ''
@@ -126,10 +125,10 @@ runs:
           local shard_count="${13}"
           local volume_mount_source="${14}"
           local extra_pip_packages="${15}"
-          local test_node_ids_file="${16}"
-          local test_node_ids_key="${17}"
-          local wheelhouse_host_dir="${18}"
-          local wheelhouse_packages="${19}"
+          local wheelhouse_host_dir="${16}"
+          local wheelhouse_packages="${17}"
+          local testmon_data_dir="${18}"
+          local testmon_mode="${19}"
           local test_k_expr="${20}"
           local logs_pid=""
           local wait_pid=""
@@ -156,6 +155,9 @@ runs:
           if [ -n "$extra_pip_packages" ]; then
             echo "With extra pip packages: $extra_pip_packages"
           fi
+          if [ "$testmon_mode" != "off" ]; then
+            echo "Testmon mode: $testmon_mode"
+          fi
           if [ -n "$wheelhouse_host_dir" ]; then
             echo "With wheelhouse host directory: $wheelhouse_host_dir"
           fi
@@ -174,25 +176,10 @@ runs:
           if [ -n "$include_files" ]; then
             echo "Include files: $include_files"
           fi
-          if [ -n "$test_node_ids_file" ]; then
-            echo "Test node IDs file: $test_node_ids_file"
-          fi
-          if [ -n "$test_node_ids_key" ]; then
-            echo "Test node IDs key: $test_node_ids_key"
-          fi
           if [ -n "$shard_index" ] && [ -n "$shard_count" ]; then
             echo "Shard: $shard_index of $shard_count"
           fi
 
-          if [ -n "$test_node_ids_file" ] || [ -n "$test_node_ids_key" ]; then
-            if [ -z "$test_node_ids_file" ] || [ -z "$test_node_ids_key" ]; then
-              echo "Both test-node-ids-file and test-node-ids-key must be set together"
-              return 1
-            fi
-            export TEST_NODE_IDS_FILE="$test_node_ids_file"
-            export TEST_NODE_IDS_KEY="$test_node_ids_key"
-          fi
-
           # Create reports directory
           mkdir -p "$reports_dir"
 
@@ -234,11 +221,6 @@ runs:
             echo "Setting TEST_NODE_IDS"
           fi
 
-          if [ -n "${TEST_NODE_IDS_FILE:-}" ]; then
-            docker_env_vars="$docker_env_vars -e TEST_NODE_IDS_FILE -e TEST_NODE_IDS_KEY"
-            echo "Setting TEST_NODE_IDS_FILE=$TEST_NODE_IDS_FILE TEST_NODE_IDS_KEY=$TEST_NODE_IDS_KEY"
-          fi
-
           if [ -n "$shard_index" ] && [ -n "$shard_count" ]; then
             docker_env_vars="$docker_env_vars -e TEST_SHARD_INDEX=$shard_index -e TEST_SHARD_COUNT=$shard_count"
             echo "Setting TEST_SHARD_INDEX=$shard_index TEST_SHARD_COUNT=$shard_count"
@@ -273,6 +255,24 @@ runs:
             docker_env_vars="$docker_env_vars -e TEST_EXTRA_PIP_PACKAGES"
           fi
 
+          testmon_options=""
+          if [ -n "$testmon_data_dir" ]; then
+            mkdir -p "$testmon_data_dir"
+            docker_env_vars="$docker_env_vars -e TESTMON_DATAFILE=/workspace/isaaclab/$testmon_data_dir/.testmondata"
+            case "$testmon_mode" in
+              select)
+                if [ -s "$testmon_data_dir/.testmondata" ]; then
+                  testmon_options="--testmon --testmon-forceselect"
+                else
+                  echo "::warning::Testmon data is missing; collecting a full baseline"
+                  testmon_options="--testmon --testmon-noselect"
+                fi
+                ;;
+              collect) testmon_options="--testmon --testmon-noselect" ;;
+              off) ;;
+              *) echo "Unknown Testmon mode: $testmon_mode"; return 1 ;;
+            esac
+          fi
           if [ -n "$test_k_expr" ]; then
             export TEST_K_EXPR="$test_k_expr"
             docker_env_vars="$docker_env_vars -e TEST_K_EXPR"
@@ -383,7 +383,7 @@ runs:
               # set this detect-only flag, which makes cold asset downloads
               # fall back to slow repeated retries.
               unset HUB__ARGS__DETECT_ONLY
-              ./isaaclab.sh -p -m pip install pytest pytest-mock junitparser flatdict flaky \"coverage>=7.6.1\"
+              ./isaaclab.sh -p -m pip install pytest pytest-mock \"pytest-testmon>=2.2,<3\" junitparser flatdict flaky \"coverage>=7.6.1\"
               if [ -n \"\${TEST_WHEELHOUSE_PACKAGES:-}\" ]; then
                 if [ ! -d \"\${TEST_WHEELHOUSE_PATH:-}\" ]; then
                   echo \"Wheelhouse path is missing: \${TEST_WHEELHOUSE_PATH:-}\"
@@ -415,7 +415,7 @@ runs:
                 esac
               fi
               echo 'Starting pytest with path: $test_path'
-              ./isaaclab.sh -p -m pytest --ignore=tools/conftest.py $test_path $pytest_options -v --junitxml=tests/$result_file
+              ./isaaclab.sh -p -m pytest --ignore=tools/conftest.py $test_path $pytest_options $testmon_options -v --junitxml=tests/$result_file
             "
 
           # Stream container logs in background.
@@ -512,7 +512,7 @@ runs:
         }
 
         # Call the function with provided parameters
-        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "$PYTEST_OPTIONS" "${{ inputs.filter-pattern }}" "${{ inputs.exclude-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.include-files }}" "${{ inputs.quarantined-only }}" "${{ inputs.shard-index }}" "${{ inputs.shard-count }}" "${{ inputs.volume-mount-source }}" "${{ inputs.extra-pip-packages }}" "${{ inputs.test-node-ids-file }}" "${{ inputs.test-node-ids-key }}" "${{ inputs.wheelhouse-host-dir }}" "${{ inputs.wheelhouse-packages }}" "$TEST_K_EXPR_INPUT"
+        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "$PYTEST_OPTIONS" "${{ inputs.filter-pattern }}" "${{ inputs.exclude-pattern }}" "${{ inputs.curobo-only }}" "${{ inputs.include-files }}" "${{ inputs.quarantined-only }}" "${{ inputs.shard-index }}" "${{ inputs.shard-count }}" "${{ inputs.volume-mount-source }}" "${{ inputs.extra-pip-packages }}" "${{ inputs.wheelhouse-host-dir }}" "${{ inputs.wheelhouse-packages }}" "${{ inputs.testmon-data-dir }}" "${{ inputs.testmon-mode }}" "$TEST_K_EXPR_INPUT"
 
     - name: Kill container on cancellation
       if: cancelled()