{
  "robot": "UR5e + Robotiq 2F-140 gripper",
  "cameras": {
    "camera1": "fixed base RealSense (table-facing)",
    "camera2": "wrist-mounted RealSense",
    "camera3": "oppo-countertop RealSense (opposite-side counter view)"
  },
  "camera_resolution": [
    640,
    480
  ],
  "control_hz": 20,
  "tcp_orientation_axis_angle": [
    3.14159,
    0.0,
    0.0
  ],
  "workspace_trapezoid": {
    "y_range": [
      0.5,
      0.8
    ],
    "x_halfwidth_at_y_min": 0.1,
    "x_halfwidth_at_y_max": 0.18
  },
  "episodes": 120,
  "task": "hide_block_with_cup",
  "instruction": "Cover the block with the upside-down cup.",
  "description": "One cup (upside down, rim on table; R = 8 cm) and one block start at random separated positions (>= 20 cm apart). The robot picks the cup (fully open gripper) and places it over the block via moveUntilContact so the rim lands on the table around the block, hiding it. The recording ends after the cup is placed. Each episode also has an unrecorded RESET phase that lifts the cup off, places it at a new random position, then moves the block to its own new random position -- this produces the random starting pose for the next episode.",
  "objects": [
    "cup (R=8cm, upside down)",
    "block (~2.5cm cube)"
  ],
  "gripper_modes": "block-pick narrows to 50% open; cup-pick fully open",
  "lighting_split": {
    "light": "episodes 1-66",
    "dark": "episodes 67-120",
    "note": "Room lighting changed mid-collection. Each episode's meta.json has a `lighting` field with value 'light' or 'dark'."
  }
}