{
  "robocasa_panda_omron": 13,
  "oxe_droid": 17,
  "oxe_fractal": 18,
  "oxe_language_table": 19,
  "oxe_bridge": 20,
  "unknown": 22,
  "gr1_unified": 20,
  "agibot": 26,
  "sim_behavior_r1_pro": 23,
  "xdof": 24,
  "xdof_oss_data": 25,
  "unitree_g1_full_body_with_waist_height_nav_cmd": 25,
  "real_r1_pro_sharpa": 27,
  "real_r1_pro_sharpa_add_view": 27,
  "real_r1_pro_sharpa_relative_arm_joint": 26,
  "real_r1_pro_sharpa_delta_eef": 26,
  "real_r1_pro_sharpa_absolute_eef": 26,
  "real_r1_pro_sharpa_meanstd": 26,
  "real_r1_pro_sharpa_relative_eef": 26,
  "real_r1_pro_sharpa_relative_eef_add_view": 26,
  "real_r1_pro_sharpa_relative_eef_relative_hand": 26,
  "real_r1_pro_sharpa_relative_eef_human": 26,
  "real_r1_pro_sharpa_relative_eef_human_add_view": 26,
  "real_r1_pro_sharpa_relative_eef_human_relative_hand": 26,
  "real_r1_pro_sharpa_relative_eef_egodex": 26,
  "real_r1_pro_sharpa_relative_eef_egodex_relative_hand": 26,
  "real_r1_pro_sharpa_relative_eef_egodex_wrist_only": 26,
  "real_r1_pro_sharpa_relative_eef_maxinsights": 26,
  "real_r1_pro_sharpa_relative_eef_maxinsights_relative_hand": 26,
  "real_r1_pro_sharpa_relative_eef_mecka": 26,
  "real_r1_pro_sharpa_relative_eef_mecka_relative_hand": 26,
  "real_g1_relative_eef_absolute_joints": 25,
  "real_g1_relative_eef_absolute_joints_wrist_cam": 25,
  "real_g1_relative_eef_relative_joints": 25,
  "real_r1_pro_sharpa_relative_eef_relative_hand_relative_joint": 26,
  "real_r1_pro_sharpa_relative_joint": 29,
  "oxe_droid_relative_eef_relative_joint": 24,
  "oxe_droid_relative_eef_relative_joint_swapped": 24,
  "oxe_droid_relative_eef_relative_joint_upweight_z": 24,
  "oxe_droid_relative_eef_relative_joint_upweight_z_swapped": 24,
  "oxe_droid_relative_eef_relative_joint_3view": 24,
  "oxe_droid_relative_eef_relative_joint_3view_swapped": 24,
  "oxe_droid_relative_eef": 24,
  "oxe_droid_joint_position_relative": 24,
  "xdof_relative_eef_relative_joint": 27,
  "xdof_relative_eef_relative_joint_subtask": 27,
  "xdof_relative_eef": 27,
  "xdof_relative_joint": 28,
  "simpler_env_google": 0,
  "simpler_env_widowx": 1,
  "libero_sim": 2,
  "droid_sim": 3,
  "new_embodiment": 10
}