def _d4rl_dataset_name(env_name):
  """Obtains the TFDS D4RL name."""
  split_name = env_name.split('-')
  task = split_name[0]
  version = split_name[-1]
  level = '-'.join(split_name[1:-1])
  return f'd4rl_adroit_{task}/{version}-{level}'