refactor: drop the rlinf compatibility surface

examples/run_shared_device_inference.py

@@ -953,7 +953,7 @@ def run_experiment(
                     raise ExperimentError("task input state differs from prior policy readback")
                 request_id = f"policy-vector-replay-{index}"
                 task = {
-                    "schema": "rlinf.control.task.v1",
+                    "schema": "embodirun.control.task.v1",
                     "request_id": request_id,
                     "runtime_id": RUNTIME_ID,
                     "prompt": "pick up the blue cube and place it in the bowl",
@@ -964,7 +964,7 @@ def run_experiment(
                     "wait": True,
                 }
                 status, response = _http_json(server, "POST", "/v1/tasks", task)
-                if status != 200 or response.get("schema") != "rlinf.control.result.v1":
+                if status != 200 or response.get("schema") != "embodirun.control.result.v1":
                     raise ExperimentError(f"task {request_id} failed: {status} {response}")
                 if response.get("completed_steps") != 1:
                     raise ExperimentError(f"task {request_id} did not complete one policy step")
@@ -1031,7 +1031,7 @@ def run_experiment(
         raise ExperimentError("no shared observation reached the consumer subscription")
 
     report = {
-        "schema": "rlinf.example.shared_device_inference.v1",
+        "schema": "embodirun.example.shared_device_inference.v1",
         "status": "software_complete",
         "software_only": True,
         "physical_robot": False,
@@ -1107,7 +1107,7 @@ def main(argv: Sequence[str] | None = None) -> int:
             raise ExperimentError(f"EmbodiInfer endpoint is not healthy: {health!r}")
         if args.preflight_only:
             report = {
-                "schema": "rlinf.example.shared_device_inference.v1",
+                "schema": "embodirun.example.shared_device_inference.v1",
                 "status": "preflight_only",
                 "software_only": True,
                 "physical_robot": False,

integrations/sglang_pi05/README.md

@@ -2,6 +2,5 @@
 
 This optional package owns the LeRobot Pi05 checkpoint compatibility pipeline.
 Install it only in the managed SGLang inference environment. The managed entry
-point is `embodirun-sglang-pi05-serve`; the historical `rlinf-sglang-pi05-serve`
-name remains a compatibility alias, and EmbodiRun's own `embodirun-sglang-serve`
-launcher stays a thin wrapper in the root package.
+point is `embodirun-sglang-pi05-serve`. EmbodiRun's own
+`embodirun-sglang-serve` launcher stays a thin wrapper in the root package.

integrations/sglang_pi05/pyproject.toml

@@ -20,8 +20,6 @@ dependencies = [
 
 [project.scripts]
 embodirun-sglang-pi05-serve = "embodirun_sglang_pi05.pi05:main"
-# Compatibility alias for existing deployments.
-rlinf-sglang-pi05-serve = "embodirun_sglang_pi05.pi05:main"
 
 [tool.setuptools.packages.find]
 where = ["src"]

integrations/xlerobot_owner/pyproject.toml

@@ -29,10 +29,6 @@ video = ["aiortc>=1.14,<2"]
 embodirun-xlerobot-owner = "embodirun_xlerobot_owner.__main__:main"
 embodirun-xlerobot-joycon = "embodirun_xlerobot_owner.joycon_teleop:main"
 embodirun-xlerobot-dualsense = "embodirun_xlerobot_owner.dualsense_drive:main"
-# Compatibility aliases for existing deployments.
-rlinf-xlerobot-owner = "embodirun_xlerobot_owner.__main__:main"
-rlinf-xlerobot-joycon = "embodirun_xlerobot_owner.joycon_teleop:main"
-rlinf-xlerobot-dualsense = "embodirun_xlerobot_owner.dualsense_drive:main"
 
 [tool.setuptools.packages.find]
 where = ["src"]

pyproject.toml

@@ -122,15 +122,8 @@ embodirun-control-serve = "embodirun.services.control.server:main"
 embodirun-simulation-serve = "embodirun.services.simulation.server:main"
 embodirun-sglang-serve = "embodirun.services.inference.adapters.sglang.pi05:main"
 embodirun-go2-streamvln = "embodirun.bindings.unitree.go2.streamvln.cli:main"
-# Compatibility aliases for existing deployments.
-rlinf-deploy = "embodirun.services.host.cli.cli:main"
-rlinf-control-serve = "embodirun.services.control.server:main"
-rlinf-simulation-serve = "embodirun.services.simulation.server:main"
-rlinf-sglang-serve = "embodirun.services.inference.adapters.sglang.pi05:main"
-rlinf-go2-streamvln = "embodirun.bindings.unitree.go2.streamvln.cli:main"
 
 [tool.setuptools]
-py-modules = ["rlinf_deploy"]
 
 [tool.setuptools.packages.find]
 where = ["src"]
@@ -154,4 +147,4 @@ ignore = ["E501", "B905", "C408"]
 
 [tool.ruff.lint.isort]
 # The independently installed integration packages are first-party too.
-known-first-party = ["embodirun", "embodirun_*", "rlinf_deploy"]
+known-first-party = ["embodirun", "embodirun_*"]

src/embodirun/application/contracts.py

@@ -11,10 +11,10 @@
 from embodirun.model_services.providers import provider
 from embodirun.robots.sensors import SensorInput
 
-CONTROL_CONFIG_SCHEMA = "rlinf.control.config.v1"
-TASK_REQUEST_SCHEMA = "rlinf.control.task.v1"
-TASK_RESULT_SCHEMA = "rlinf.control.result.v1"
-ERROR_SCHEMA = "rlinf.control.error.v1"
+CONTROL_CONFIG_SCHEMA = "embodirun.control.config.v1"
+TASK_REQUEST_SCHEMA = "embodirun.control.task.v1"
+TASK_RESULT_SCHEMA = "embodirun.control.result.v1"
+ERROR_SCHEMA = "embodirun.control.error.v1"
 
 
 class ControlContractError(ValueError):

src/embodirun/application/control_service.py

@@ -1326,7 +1326,7 @@ def _control_job_database(
 ) -> Path:
     """Choose one persistent, per-service job database under device state."""
 
-    configured = state_dir or os.environ.get("RLINF_DEPLOY_CONTROL_STATE_DIR")
+    configured = state_dir or os.environ.get("EMBODIRUN_CONTROL_STATE_DIR")
     if configured is None:
         manager = service.device_manager
         if manager is None:
@@ -1352,7 +1352,7 @@ def _load_auth_policy(token_file: Path | None) -> AuthPolicy:
 
     configured = token_file
     if configured is None:
-        environment_path = os.environ.get("RLINF_DEPLOY_CONTROL_TOKEN_FILE")
+        environment_path = os.environ.get("EMBODIRUN_CONTROL_TOKEN_FILE")
         configured = Path(environment_path).expanduser() if environment_path else None
     if configured is None:
         return AuthPolicy()
@@ -1379,11 +1379,11 @@ def _configured_recorder(
 ) -> ObservationRecorder | None:
     configured_dir = recording_dir
     if configured_dir is None:
-        environment_path = os.environ.get("RLINF_DEPLOY_CONTROL_RECORDING_DIR")
+        environment_path = os.environ.get("EMBODIRUN_CONTROL_RECORDING_DIR")
         configured_dir = Path(environment_path).expanduser() if environment_path else None
     if configured_dir is None:
         return None
-    configured_id = recording_id or os.environ.get("RLINF_DEPLOY_CONTROL_RECORDING_ID", config.runtime_id)
+    configured_id = recording_id or os.environ.get("EMBODIRUN_CONTROL_RECORDING_ID", config.runtime_id)
     expected_frames = tuple(item.name for item in config.inputs)
     return ObservationRecorder(
         store,
@@ -1693,7 +1693,7 @@ def _shutdown_client(client: Any) -> None:
 def _package_version() -> str:
     """Report installed package metadata without inventing a source hash."""
 
-    for distribution in ("embodirun", "rlinf-deploy"):
+    for distribution in ("embodirun", "embodirun"):
         try:
             return package_version(distribution)
         except PackageNotFoundError:  # editable/source checkouts may lack metadata

src/embodirun/application/jobs.py

@@ -335,7 +335,7 @@ def submit(
                     worker = threading.Thread(
                         target=self._run_job,
                         args=(key,),
-                        name=f"rlinf-job-{run_id}",
+                        name=f"embodirun-job-{run_id}",
                         daemon=True,
                     )
                     self._workers[key] = worker
@@ -439,7 +439,7 @@ def cancel(self, caller_id: str, session_id: str, request_id: str) -> JobRecord:
             callback_thread = threading.Thread(
                 target=self._run_cancel_callback,
                 args=(key, runtime, callback),
-                name=f"rlinf-job-cancel-{runtime.key.request_id}",
+                name=f"embodirun-job-cancel-{runtime.key.request_id}",
                 daemon=True,
             )
             # Register before starting so close() cannot release the SQLite

src/embodirun/application/simulation/contracts.py

@@ -8,10 +8,10 @@
 from dataclasses import dataclass
 from typing import Any
 
-SIMULATION_CONFIG_SCHEMA = "rlinf.simulation.config.v1"
-EPISODE_REQUEST_SCHEMA = "rlinf.simulation.episode.v1"
-EPISODE_RESULT_SCHEMA = "rlinf.simulation.result.v1"
-ERROR_SCHEMA = "rlinf.simulation.error.v1"
+SIMULATION_CONFIG_SCHEMA = "embodirun.simulation.config.v1"
+EPISODE_REQUEST_SCHEMA = "embodirun.simulation.episode.v1"
+EPISODE_RESULT_SCHEMA = "embodirun.simulation.result.v1"
+ERROR_SCHEMA = "embodirun.simulation.error.v1"
 
 
 class SimulationContractError(ValueError):

src/embodirun/bindings/unitree/go2/streamvln/cli.py

@@ -32,7 +32,7 @@ def build_parser() -> argparse.ArgumentParser:
     parser.add_argument("--username", required=True, help="SSH username")
     parser.add_argument(
         "--remote-root",
-        default=".local/share/rlinf-go2-agent",
+        default=".local/share/embodirun-go2-agent",
         help="remote installation root, absolute or relative to the SSH user's home",
     )
     parser.add_argument("--connect-timeout", type=float, default=10.0)

src/embodirun/deployment/operations/init.py

@@ -38,7 +38,7 @@
 
 INFERENCE_REPOSITORY = "https://github.com/BUAA-CI-LAB/EmbodiInfer.git"
 
-DEFAULT_MANAGED_ROOT = ".local/share/rlinf-deploy"
+DEFAULT_MANAGED_ROOT = ".local/share/embodirun"
 
 
 class InitError(RuntimeError):

src/embodirun/deployment/source.py

@@ -20,11 +20,8 @@
 # project.  Managed checkouts cloned before the rename keep working instead of
 # forcing a fresh clone.
 _REPOSITORY_ALIASES = {
-    "rlinf-deploy": "EmbodiRun",
-    "rlinf-inference": "EmbodiInfer",
-    "embodirun-internal": "EmbodiRun",
-    "embodiinfer-internal": "EmbodiInfer",
     "embodirun": "EmbodiRun",
+    "embodirun-inference": "EmbodiInfer",
     "embodiinfer": "EmbodiInfer",
 }
 

src/embodirun/deployment/supervisor.py

@@ -31,7 +31,7 @@
     from .plan import ServiceSpec
 
 _SERVICE_ID = re.compile(r"[A-Za-z0-9][A-Za-z0-9_.-]*\Z")
-_IDENTITY_ENVIRONMENT = "RLINF_DEPLOY_SERVICE_ID"
+_IDENTITY_ENVIRONMENT = "EMBODIRUN_SERVICE_ID"
 _REQUEST_LIMIT_BYTES = 1024 * 1024
 
 

src/embodirun/devices/execution/arbitration.py

@@ -296,7 +296,7 @@ def _raise_io_failure(result: IOResult) -> None:
             # existing last-error surface; the structured IOResult remains
             # available to callers that need scheduler context.
             with contextlib.suppress(Exception):
-                result.error._rlinf_io_result = result
+                result.error._embodirun_io_result = result
             raise result.error
         if result.status is IOStatus.REJECTED and result.operation == "stop":
             # Another stop is pending/running.  The scheduler keeps a single
@@ -1013,7 +1013,7 @@ def _run(self) -> None:
                 if port_result is None:
                     port_result = getattr(error, "result", None)
                     if not isinstance(port_result, IOResult):
-                        port_result = getattr(error, "_rlinf_io_result", None)
+                        port_result = getattr(error, "_embodirun_io_result", None)
                 was_cancelled = ticket.cancel_event.is_set()
                 status = CommandStatus.CANCELLED if was_cancelled else CommandStatus.FAILED
                 with self._condition:

src/embodirun/devices/execution/io.py

@@ -144,7 +144,7 @@ def __init__(
         self._preemptive_active = False
         self._worker = threading.Thread(
             target=self._run,
-            name=f"rlinf-device-io-{bus_id}",
+            name=f"embodirun-device-io-{bus_id}",
             daemon=True,
         )
         self._worker.start()
@@ -411,7 +411,7 @@ def invoke() -> None:
 
             threading.Thread(
                 target=invoke,
-                name=f"rlinf-device-preemptive-stop-{self.bus_id}",
+                name=f"embodirun-device-preemptive-stop-{self.bus_id}",
                 daemon=True,
             ).start()
             if not done.wait(wait_timeout):

src/embodirun/devices/execution/teleop.py

@@ -20,7 +20,7 @@
     resolve_axes_action as resolve_so101_axes_action,
 )
 
-TELEOP_AXES_ACTION_SPACE = "rlinf.teleop.axes.v1"
+TELEOP_AXES_ACTION_SPACE = "embodirun.teleop.axes.v1"
 _ROBOT_KIND_ALIASES = {
     "arx5": "arx.x5",
     "arx.x5": "arx.x5",
@@ -158,7 +158,7 @@ def main(argv: list[str] | None = None) -> int:
     from .inputs import ControlInputBridge, JoystickInput, KeyboardInput
 
     parser = argparse.ArgumentParser(
-        prog="rlinf-control-teleop",
+        prog="embodirun-control-teleop",
         description=(
             "Poll keyboard and optional joystick input and forward manual control "
             "requests to the loopback control service. Keyboard commands: space "

src/embodirun/devices/lifecycle.py

@@ -431,7 +431,7 @@ def __init__(
         self.owner_id = owner_id or f"control:{os.getpid()}"
         explicit_lock_dir = lock_dir is not None
         self.lock_dir = Path(
-            lock_dir or os.environ.get("RLINF_DEPLOY_DEVICE_LOCK_DIR", "/tmp/rlinf-deploy-device-locks")
+            lock_dir or os.environ.get("EMBODIRUN_DEVICE_LOCK_DIR", "/tmp/embodirun-device-locks")
         ).expanduser()
         if state_path is None:
             if explicit_lock_dir:
@@ -446,7 +446,7 @@ def __init__(
                         Path.home() / ".local" / "state",
                     )
                 ).expanduser()
-                state_path = state_root / "rlinf-deploy" / "device-state.json"
+                state_path = state_root / "embodirun" / "device-state.json"
         self.state_store = DeviceStateStore(state_path)
         self._records: dict[str, _Record] = {}
         self._unresolved = self.state_store.load()

src/embodirun/devices/observations/producer.py

@@ -34,11 +34,11 @@ def default_interval_s() -> float:
     A poll costs roughly 20 ms on a Pi 4B, so 0.03 s yields a ~50 ms period and
     reaches 20 Hz.
 
-    Override with ``RLINF_DEPLOY_OBSERVATION_INTERVAL_S``; invalid values fall
+    Override with ``EMBODIRUN_OBSERVATION_INTERVAL_S``; invalid values fall
     back to the default.
     """
 
-    raw = os.environ.get("RLINF_DEPLOY_OBSERVATION_INTERVAL_S", "0.03")
+    raw = os.environ.get("EMBODIRUN_OBSERVATION_INTERVAL_S", "0.03")
     try:
         value = float(raw)
     except ValueError:
@@ -76,7 +76,7 @@ def __init__(self, capture: Callable[[], Any], name: str) -> None:
         self._stop = False
         self._thread = threading.Thread(
             target=self._run,
-            name=f"rlinf-observation-source-{name}",
+            name=f"embodirun-observation-source-{name}",
             daemon=True,
         )
         self._thread.start()
@@ -362,7 +362,7 @@ def start(self) -> ObservationProducer:
             self._stop_event.clear()
             self._thread = threading.Thread(
                 target=self._run,
-                name="rlinf-observation-producer",
+                name="embodirun-observation-producer",
                 daemon=True,
             )
             self._thread.start()
@@ -932,7 +932,7 @@ def run() -> None:
         except BaseException as error:  # pragma: no cover - defensive cleanup path
             result[0] = error
 
-    thread = threading.Thread(target=run, name="rlinf-observation-close", daemon=True)
+    thread = threading.Thread(target=run, name="embodirun-observation-close", daemon=True)
     thread.start()
     thread.join(max(0.0, timeout_s))
     return (not thread.is_alive(), result[0])

src/embodirun/devices/recording.py

@@ -234,7 +234,7 @@ def start(self) -> ObservationRecorder:
                 raise RecordingError(str(error)) from error
             self._thread = threading.Thread(
                 target=self._run,
-                name=f"rlinf-observation-recorder-{self.recording_id}",
+                name=f"embodirun-observation-recorder-{self.recording_id}",
                 daemon=True,
             )
             self._thread.start()

src/embodirun/robots/sensors/cameras/v4l2/camera.py

@@ -20,11 +20,11 @@ def _camera_buffer_size() -> int:
     caps delivery at 10.00 fps while 2 (or more) reaches 20.00 fps. Two buffers
     keep the configured rate and cost only one frame of freshness.
 
-    Override with ``RLINF_DEPLOY_CAMERA_BUFFERSIZE``; values below 1 fall back to
+    Override with ``EMBODIRUN_CAMERA_BUFFERSIZE``; values below 1 fall back to
     the default.
     """
 
-    raw = os.environ.get("RLINF_DEPLOY_CAMERA_BUFFERSIZE", "2")
+    raw = os.environ.get("EMBODIRUN_CAMERA_BUFFERSIZE", "2")
     try:
         value = int(raw)
     except ValueError:

src/embodirun/services/control/http_api.py

@@ -370,9 +370,8 @@ def _propose_args(
 
     def _identity(self, headers: Mapping[str, str], token: str | None) -> tuple[str, str]:
         # ``x-embodirun-*`` are the canonical identity headers; the legacy
-        # ``x-rlinf-*`` names stay accepted for existing deployments.
-        caller = _first_header(headers, "x-embodirun-caller-id", "x-rlinf-caller-id", "x-caller-id")
-        session = _first_header(headers, "x-embodirun-session-id", "x-rlinf-session-id", "x-session-id")
+        caller = _first_header(headers, "x-embodirun-caller-id", "x-caller-id")
+        session = _first_header(headers, "x-embodirun-session-id", "x-session-id")
         if self.application.auth.token_authentication_enabled:
             # Let the application report the normal 401 for a missing token;
             # scope headers are required once a token is actually present.
@@ -435,7 +434,7 @@ def _token(headers: Mapping[str, str]) -> str | None:
         if len(parts) != 2 or parts[0].lower() != "bearer" or not parts[1].strip():
             raise AuthenticationError("authorization must use a Bearer token")
         return parts[1].strip()
-    return _first_header(headers, "x-embodirun-token", "x-rlinf-token", "x-control-token")
+    return _first_header(headers, "x-embodirun-token", "x-control-token")
 
 
 def _optional(mapping: Mapping[str, Any], name: str) -> str | None:

src/embodirun/services/host/cli/cli.py

@@ -23,7 +23,7 @@ def build_parser() -> argparse.ArgumentParser:
     parser.add_argument(
         "--state-dir",
         type=Path,
-        help=("local state directory (default: ~/.local/state/rlinf-deploy, kept for compatibility)"),
+        help=("local state directory (default: ~/.local/state/embodirun, kept for compatibility)"),
     )
     commands = parser.add_subparsers(dest="command", required=True)
     validate.register(commands)

src/embodirun/services/host/cli/command/init.py

@@ -24,7 +24,7 @@ def register(commands: Any) -> None:
     )
     parser.add_argument(
         "--root",
-        default=".local/share/rlinf-deploy",
+        default=".local/share/embodirun",
         help="managed directory on each node, relative to its home by default",
     )
     parser.set_defaults(command_handler=run)

src/embodirun/services/host/cli/context.py

@@ -34,7 +34,7 @@ def executor(self, node_id: str) -> Iterator[Executor]:
 
 
 def state_path(directory: Path | None, deployment_name: str) -> Path:
-    root = Path.home() / ".local" / "state" / "rlinf-deploy" if directory is None else directory.expanduser()
+    root = Path.home() / ".local" / "state" / "embodirun" if directory is None else directory.expanduser()
     return root / f"{deployment_name}.json"