{
  "lower_top1": {
    "pickup_pos": "lower right",
    "target_pos": "top1",
    "grasp_source_cycle": 1,
    "stack_source_cycle": 1,
    "return_source_cycle": 1,
    "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration"
  },
  "lower_top2": {
    "pickup_pos": "lower right",
    "target_pos": "top2",
    "grasp_source_cycle": 1,
    "stack_source_cycle": 2,
    "return_source_cycle": 2,
    "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration"
  },
  "upper_top1": {
    "pickup_pos": "upper right",
    "target_pos": "top1",
    "grasp_source_cycle": 2,
    "stack_source_cycle": 1,
    "return_source_cycle": 1,
    "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration"
  },
  "upper_top2": {
    "pickup_pos": "upper right",
    "target_pos": "top2",
    "grasp_source_cycle": 2,
    "stack_source_cycle": 2,
    "return_source_cycle": 2,
    "recording_scope": "composition of existing atomic clips; not a continuous recorded demonstration"
  }
}