We establish a bijection between rigged configurations and highest weight elements of a tensor product of Kirillov-Reshetikhin crystals for all nonexceptional types. A key idea for the proof is to embed both objects into bigger sets for simply-laced types $A_n^{ (1)}$ or $D_n^{ (1)}$, whose bijections have already been established. As a consequence we settle the $X=M$ conjecture in full generality for nonexceptional types. Furthermore, the bijection extends to a classical crystal isomorphism and sends the combinatorial $R$-matrix to the identity map on rigged configurations.
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