refactor(pi052): introduce generic language runtime

tests/policies/pi052/test_pi052_runtime_adapter.py

@@ -0,0 +1,54 @@
+from types import SimpleNamespace
+
+from lerobot.policies.language_conditioned import RuntimeState
+from lerobot.policies.pi052.inference.pi052_adapter import PI052PolicyAdapter, split_plan_and_say
+
+
+def test_pi052_adapter_builds_recipe_prompts_from_runtime_state():
+    adapter = PI052PolicyAdapter(policy=object())
+    state = RuntimeState(
+        task="clean the kitchen",
+        language_context={"memory": "cup moved", "plan": "pick then place"},
+        extra={"prior_subtask": "pick the cup"},
+    )
+
+    assert adapter.messages_for("subtask", state) == [{"role": "user", "content": "clean the kitchen"}]
+    assert adapter.messages_for("memory", state) == [
+        {"role": "user", "content": "clean the kitchen"},
+        {"role": "assistant", "content": "Previous memory: cup moved"},
+        {"role": "user", "content": "Completed subtask: pick the cup"},
+    ]
+    assert adapter.messages_for("interjection", state, user_text="wait") == [
+        {"role": "user", "content": "clean the kitchen"},
+        {"role": "assistant", "content": "Previous plan:\npick then place"},
+        {"role": "user", "content": "wait"},
+    ]
+    assert adapter.messages_for("vqa", state, user_text="where is the cup?") == [
+        {"role": "user", "content": "where is the cup?"}
+    ]
+
+
+def test_pi052_adapter_parses_say_tool_calls_and_plan_text():
+    adapter = PI052PolicyAdapter(policy=object())
+    text = "Move to the sink. <say>heading to the sink</say>"
+
+    assert split_plan_and_say(text) == ("Move to the sink.", "heading to the sink")
+    assert adapter.parse_tool_calls(text)[0].name == "say"
+    assert adapter.parse_tool_calls(text)[0].arguments == {"text": "heading to the sink"}
+    assert adapter.plan_from_text(text) == "Move to the sink."
+
+
+def test_pi052_runtime_cli_smoke_does_not_load_model(monkeypatch):
+    from lerobot.policies.pi052.inference import runtime_cli
+
+    fake_policy = SimpleNamespace(config=SimpleNamespace(device="cpu"))
+
+    monkeypatch.setattr(
+        runtime_cli,
+        "_load_policy_and_preprocessor",
+        lambda policy_path, dataset_repo_id: (fake_policy, None, None, None),
+    )
+    monkeypatch.setattr(runtime_cli, "_build_tools", lambda no_tts, tts_voice: {})
+    monkeypatch.setattr(runtime_cli, "_run_repl", lambda runtime, initial_task, max_ticks: 0)
+
+    assert runtime_cli.main(["--policy.path=fake", "--no_robot", "--task=clean", "--max_ticks=0"]) == 0