Test Kit configuration change

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

@@ -14,6 +14,14 @@ inputs:
     description: 'Docker base image for the test container'
     required: false
     default: 'ubuntu:24.04'
+  premerge:
+    description: 'Run smoke tests plus tests selected by Testmon coverage'
+    required: false
+    default: 'false'
+  testmon-data-dir:
+    description: 'Host directory for the persisted Testmon dependency database'
+    required: false
+    default: ''
   test-filter:
     description: 'pytest -k expression (empty = run everything)'
     required: false
@@ -33,12 +41,20 @@ runs:
       shell: bash
       env:
         BASE_IMAGE: ${{ inputs.base-image }}
+        PREMERGE: ${{ inputs.premerge }}
+        TESTMON_DATA_DIR: ${{ inputs.testmon-data-dir }}
         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)
+              -- --tb=short -sv --testmon)
+        if [ "$PREMERGE" = "true" ]; then
+          args+=(--testmon-forceselect)
+        else
+          args+=(--testmon-noselect)
+        fi
         [ -n "$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`

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

@@ -61,14 +61,6 @@ 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: ''
@@ -81,6 +73,10 @@ inputs:
     description: 'Test type stored on each uploaded omni-github test row'
     default: 'pytest'
     required: false
+  testmon-mode:
+    description: 'Override Testmon mode with select or collect'
+    default: ''
+    required: false
   container-name:
     description: 'Docker container name prefix (run-id is appended automatically)'
     required: true
@@ -145,6 +141,36 @@ 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/$PR_NUMBER/files" --jq '.[].filename')"; then
+            relevant_files="$(grep -E '^(source|docker|tools|apps|scripts)/|^\.github/(workflows/(build|config)\.yaml|actions/)|^\.gitmodules$|^[^/]+\.(toml|yaml|yml|json|ini|cfg|conf|lock|sh|bat|ps1)$' <<< "$changed_files" | grep -vE '\.(md|rst|skip)$' || true)"
+            if [ -z "$relevant_files" ] || ! grep -qvE '\.py$' <<< "$relevant_files"; then
+              mode=select
+            fi
+          else
+            echo "::warning::Could not list changed files; running the full test suite"
+          fi
+        fi
+        echo "mode=$mode" >> "$GITHUB_OUTPUT"
+        echo "Testmon mode: $mode" >> "$GITHUB_STEP_SUMMARY"
+
+    - name: Restore Testmon Data
+      uses: actions/cache@v4
+      with:
+        path: .testmon/${{ inputs.container-name }}
+        key: testmon-${{ runner.arch }}-${{ inputs.container-name }}-${{ hashFiles('tools/conftest.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('tools/conftest.py', 'tools/test_settings.py', '.github/actions/run-tests/action.yml', 'docker/Dockerfile.base', 'docker/Dockerfile.curobo', '.github/workflows/config.yaml') }}-
+
     - name: Run Tests
       uses: ./.github/actions/run-tests
       with:
@@ -160,11 +186,11 @@ 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 }}
         omni-github-test-type: ${{ inputs.omni-github-test-type }}
+        testmon-data-dir: .testmon/${{ inputs.container-name }}
+        testmon-mode: ${{ steps.testmon-mode.outputs.mode }}
 
     - name: Check Test Results
       if: always()

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

@@ -53,14 +53,6 @@ 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: ''
@@ -81,6 +73,14 @@ inputs:
     description: 'Test type stored on each uploaded omni-github test row'
     default: 'pytest'
     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'
+    required: false
 
 runs:
   using: composite
@@ -105,8 +105,8 @@ 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="${17}"
+          local testmon_data_dir="${16}"
+          local testmon_mode="${17}"
           local logs_pid=""
           local wait_pid=""
           local docker_wait_file="/tmp/.docker_exit_${container_name}"
@@ -132,6 +132,9 @@ runs:
           if [ -n "$extra_pip_packages" ]; then
             echo "With extra pip packages: $extra_pip_packages"
           fi
+          if [ "$testmon_mode" != "off" ]; then
+            echo "Testmon mode: $testmon_mode"
+          fi
           if [ -n "$filter_pattern" ]; then
             echo "With filter pattern: $filter_pattern"
           fi
@@ -144,25 +147,10 @@ runs:
           if [ -n "$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"
 
@@ -199,16 +187,6 @@ runs:
             echo "Setting TEST_INCLUDE_FILES=$include_files_compact"
           fi
 
-          if [ -n "${TEST_NODE_IDS:-}" ]; then
-            docker_env_vars="$docker_env_vars -e TEST_NODE_IDS"
-            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=$shard_count"
@@ -243,6 +221,25 @@ runs:
             docker_env_vars="$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
+
           # Volume mount for deps-cache-hit mode: bind-mount the checked-out
           # source code over /workspace/isaaclab instead of baking it into the image.
           docker_volume_args=""
@@ -322,7 +319,7 @@ 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_EXTRA_PIP_PACKAGES:-}\" ]; then
                 echo \"Installing extra pip packages: \${TEST_EXTRA_PIP_PACKAGES}\"
                 ./isaaclab.sh -p -m pip install \${TEST_EXTRA_PIP_PACKAGES}
@@ -334,7 +331,7 @@ 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.
@@ -431,7 +428,7 @@ runs:
         }
 
         # Call the function with provided parameters
-        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.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 }}" "${{ inputs.test-node-ids-key }}"
+        run_tests "${{ inputs.test-path }}" "${{ inputs.result-file }}" "${{ inputs.container-name }}" "${{ inputs.image-tag }}" "${{ inputs.reports-dir }}" "${{ inputs.pytest-options }}" "${{ 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 }}" "${{ inputs.testmon-data-dir }}" "${{ inputs.testmon-mode }}"
 
     - name: Kill container on cancellation
       if: cancelled()