{
  "compose_arx_x5__franka": {
    "kind": "composition",
    "left_family": "arx-x5",
    "right_family": "franka",
    "held_out": false,
    "description": "Official arx-x5 left + franka right"
  },
  "compose_arx_x5__ur5": {
    "kind": "composition",
    "left_family": "arx-x5",
    "right_family": "ur5",
    "held_out": false,
    "description": "Official arx-x5 left + ur5 right"
  },
  "compose_arx_x5__piper": {
    "kind": "composition",
    "left_family": "arx-x5",
    "right_family": "piper",
    "held_out": true,
    "description": "Official arx-x5 left + piper right"
  },
  "compose_franka__arx_x5": {
    "kind": "composition",
    "left_family": "franka",
    "right_family": "arx-x5",
    "held_out": false,
    "description": "Official franka left + arx-x5 right"
  },
  "compose_franka__ur5": {
    "kind": "composition",
    "left_family": "franka",
    "right_family": "ur5",
    "held_out": false,
    "description": "Official franka left + ur5 right"
  },
  "compose_franka__piper": {
    "kind": "composition",
    "left_family": "franka",
    "right_family": "piper",
    "held_out": true,
    "description": "Official franka left + piper right"
  },
  "compose_ur5__arx_x5": {
    "kind": "composition",
    "left_family": "ur5",
    "right_family": "arx-x5",
    "held_out": false,
    "description": "Official ur5 left + arx-x5 right"
  },
  "compose_ur5__franka": {
    "kind": "composition",
    "left_family": "ur5",
    "right_family": "franka",
    "held_out": false,
    "description": "Official ur5 left + franka right"
  },
  "compose_ur5__piper": {
    "kind": "composition",
    "left_family": "ur5",
    "right_family": "piper",
    "held_out": true,
    "description": "Official ur5 left + piper right"
  },
  "compose_piper__arx_x5": {
    "kind": "composition",
    "left_family": "piper",
    "right_family": "arx-x5",
    "held_out": true,
    "description": "Official piper left + arx-x5 right"
  },
  "compose_piper__franka": {
    "kind": "composition",
    "left_family": "piper",
    "right_family": "franka",
    "held_out": true,
    "description": "Official piper left + franka right"
  },
  "compose_piper__ur5": {
    "kind": "composition",
    "left_family": "piper",
    "right_family": "ur5",
    "held_out": true,
    "description": "Official piper left + ur5 right"
  }
}