diff --git a/egomimic/algo/hpt.py b/egomimic/algo/hpt.py
index 89265d40..5e847b22 100644
--- a/egomimic/algo/hpt.py
+++ b/egomimic/algo/hpt.py
@@ -14,7 +14,7 @@
 
 from egomimic.algo.algo import Algo
 from egomimic.models.hpt_nets import MultiheadAttention, SimpleTransformer
-from egomimic.rldb.embodiment import get_embodiment, get_embodiment_id
+from egomimic.rldb.embodiment.embodiment import get_embodiment, get_embodiment_id
 from egomimic.utils.egomimicUtils import (
     STD_SCALE,
     EinOpsRearrange,
diff --git a/egomimic/algo/pi.py b/egomimic/algo/pi.py
index c38fef24..f28158bb 100644
--- a/egomimic/algo/pi.py
+++ b/egomimic/algo/pi.py
@@ -21,7 +21,7 @@
     _SimpleObservation,
     _to_minus1_1,
 )
-from egomimic.rldb.embodiment import get_embodiment, get_embodiment_id
+from egomimic.rldb.embodiment.embodiment import get_embodiment, get_embodiment_id
 from egomimic.utils.action_utils import ConverterRegistry
 from egomimic.utils.egomimicUtils import (
     draw_actions,
diff --git a/egomimic/pl_utils/pl_model.py b/egomimic/pl_utils/pl_model.py
index ff08d7bf..4869332f 100644
--- a/egomimic/pl_utils/pl_model.py
+++ b/egomimic/pl_utils/pl_model.py
@@ -9,7 +9,7 @@
 from lightning import LightningModule
 
 import egomimic.utils.tensor_utils as TensorUtils
-from egomimic.rldb.embodiment import get_embodiment
+from egomimic.rldb.embodiment.embodiment import get_embodiment
 
 
 class ModelWrapper(LightningModule):
diff --git a/egomimic/rldb/embodiment.py b/egomimic/rldb/embodiment/embodiment.py
similarity index 100%
rename from egomimic/rldb/embodiment.py
rename to egomimic/rldb/embodiment/embodiment.py
diff --git a/egomimic/rldb/utils.py b/egomimic/rldb/utils.py
index 86bf4154..ff9bcee7 100644
--- a/egomimic/rldb/utils.py
+++ b/egomimic/rldb/utils.py
@@ -29,7 +29,7 @@
     _slow_down_slerp_quat,
     _ypr_to_quat,
 )
-from egomimic.rldb.embodiment import (
+from egomimic.rldb.embodiment.embodiment import (
     EMBODIMENT_ID_TO_KEY,
     get_embodiment_id,
 )
diff --git a/egomimic/rldb/zarr/utils.py b/egomimic/rldb/zarr/utils.py
index 341389ca..6087cd6d 100644
--- a/egomimic/rldb/zarr/utils.py
+++ b/egomimic/rldb/zarr/utils.py
@@ -8,7 +8,7 @@
 import pandas as pd
 import torch
 
-from egomimic.rldb.embodiment import get_embodiment_id
+from egomimic.rldb.embodiment.embodiment import get_embodiment_id
 from egomimic.rldb.zarr.zarr_dataset_multi import MultiDataset, ZarrDataset
 
 logger = logging.getLogger(__name__)
diff --git a/egomimic/robot/rollout.py b/egomimic/robot/rollout.py
index 36a90f58..10d53972 100644
--- a/egomimic/robot/rollout.py
+++ b/egomimic/robot/rollout.py
@@ -12,7 +12,7 @@
 # from egomimic.algo import *
 from egomimic.models.denoising_policy import DenoisingPolicy
 from egomimic.pl_utils.pl_model import ModelWrapper
-from egomimic.rldb.embodiment import get_embodiment
+from egomimic.rldb.embodiment.embodiment import get_embodiment
 from egomimic.rldb.utils import RLDBDataset
 from egomimic.robot.eva.eva_kinematics import EvaMinkKinematicsSolver
 from egomimic.utils.egomimicUtils import (
diff --git a/egomimic/scripts/aloha_process/aloha_to_lerobot.py b/egomimic/scripts/aloha_process/aloha_to_lerobot.py
index 7d059e8a..14653039 100644
--- a/egomimic/scripts/aloha_process/aloha_to_lerobot.py
+++ b/egomimic/scripts/aloha_process/aloha_to_lerobot.py
@@ -13,7 +13,7 @@
 import torch.nn.functional as F
 from lerobot.common.datasets.lerobot_dataset import LEROBOT_HOME, LeRobotDataset
 
-from egomimic.rldb.embodiment import EMBODIMENT
+from egomimic.rldb.embodiment.embodiment import EMBODIMENT
 from egomimic.utils.egomimicUtils import (
     EXTRINSICS,
     AlohaFK,
diff --git a/egomimic/scripts/aria_process/aria_to_lerobot.py b/egomimic/scripts/aria_process/aria_to_lerobot.py
index 7841f20b..5c6b0a8a 100644
--- a/egomimic/scripts/aria_process/aria_to_lerobot.py
+++ b/egomimic/scripts/aria_process/aria_to_lerobot.py
@@ -34,7 +34,7 @@
 from projectaria_tools.core.sensor_data import TimeDomain, TimeQueryOptions
 from projectaria_tools.core.stream_id import StreamId
 
-from egomimic.rldb.embodiment import EMBODIMENT
+from egomimic.rldb.embodiment.embodiment import EMBODIMENT
 from egomimic.utils.egomimicUtils import (
     INTRINSICS,
     cam_frame_to_cam_pixels,
diff --git a/egomimic/scripts/eva_process/eva_to_lerobot.py b/egomimic/scripts/eva_process/eva_to_lerobot.py
index 8966535e..a5d71aef 100644
--- a/egomimic/scripts/eva_process/eva_to_lerobot.py
+++ b/egomimic/scripts/eva_process/eva_to_lerobot.py
@@ -18,7 +18,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import egomimic
-from egomimic.rldb.embodiment import EMBODIMENT
+from egomimic.rldb.embodiment.embodiment import EMBODIMENT
 from egomimic.robot.eva.eva_kinematics import EvaMinkKinematicsSolver
 from egomimic.utils.egomimicUtils import (
     EXTRINSICS,
diff --git a/egomimic/scripts/eva_process/zarr_utils.py b/egomimic/scripts/eva_process/zarr_utils.py
index 4c21d8c4..6154c7f4 100644
--- a/egomimic/scripts/eva_process/zarr_utils.py
+++ b/egomimic/scripts/eva_process/zarr_utils.py
@@ -12,7 +12,7 @@
 from scipy.spatial.transform import Rotation as R
 
 import egomimic
-from egomimic.rldb.embodiment import EMBODIMENT
+from egomimic.rldb.embodiment.embodiment import EMBODIMENT
 from egomimic.robot.eva.eva_kinematics import EvaMinkKinematicsSolver
 from egomimic.utils.egomimicUtils import (
     ee_orientation_to_cam_frame,
diff --git a/egomimic/scripts/mecka_process/mecka_to_lerobot.py b/egomimic/scripts/mecka_process/mecka_to_lerobot.py
index 101102c9..c1162019 100644
--- a/egomimic/scripts/mecka_process/mecka_to_lerobot.py
+++ b/egomimic/scripts/mecka_process/mecka_to_lerobot.py
@@ -19,7 +19,7 @@
 import torch
 from scipy.spatial.transform import Rotation
 
-from egomimic.rldb.embodiment import EMBODIMENT
+from egomimic.rldb.embodiment.embodiment import EMBODIMENT
 
 sys.path.insert(0, str(Path(__file__).parent / "lerobot"))
 
diff --git a/egomimic/scripts/mecka_process/mecka_to_zarr.py b/egomimic/scripts/mecka_process/mecka_to_zarr.py
index af3d176a..67c5fdc1 100644
--- a/egomimic/scripts/mecka_process/mecka_to_zarr.py
+++ b/egomimic/scripts/mecka_process/mecka_to_zarr.py
@@ -22,7 +22,7 @@
 import pandas as pd
 from scipy.spatial.transform import Rotation
 
-from egomimic.rldb.embodiment import EMBODIMENT
+from egomimic.rldb.embodiment.embodiment import EMBODIMENT
 from egomimic.rldb.zarr.zarr_writer import ZarrWriter
 
 logging.basicConfig(level=logging.INFO)