Is Rupa an Experience?

I have never been clear on the exact nature of rupa. Is rupa the experience of the physical, is rupa not experiential but instead it's what is in 3D space and is there whether or not it's being experienced(like how most people view material reality before practicing Dhamma) or can rupa be both experiential and not experiential(conceptual?) at the same time? We are supposed to see reality through our individual experience but it seems to me that rupa might not be an "experiential reality kind of teaching". Is rupa only about when we are experiencing "hardness","coldness","wetness" when we touch an ice cube or is rupa the "formation" of the ice cube or could Rupa just be the concept of the ice cube? How I interpreted the teachings on rupa told me rupa might be conceptual at times and ultimate at other times but really I don't know. -Thank You :)