txwang98/Anywhere3D huggingface dataset:
Scene: scene_00112_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: Add a square stool with dimensions 0.4m (L) x 0.4m (W) x 0.5m (H), placing it 0.25 meters directly in front of the center of the black canopy's base, ensuring it does not obstruct the path to the gate.
Target 3D bounding box: center (-0.445252341319611, -0.9582546004516999, 0.3476477928305899), width 0.4 m, length 0.4 m, height 0.5 m, rotation 0
Scene: scene_00112_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: On the floor near the plastic bag and box, place a new small storage bin 0.2 meters directly in front of the paper bag, close to the gate, with dimensions of width 0.4 meters, length 0.3 meters, and height 0.25 meters.
Target 3D bounding box: center (1.09675350818126, 1.72436338339476, 0.16167131666961), width 0.4 m, length 0.3 m, height 0.25 m, rotation 90
Scene: scene_00112_00 (source dataset: multiscan)
Grounding level: space_level (Situation Understanding)
Referring expression: Stand in the space on the balcony, and in the center of the floor, install a small round plant pot with a diameter of 0.2 meters and a height of 0.15 meters.
Target 3D bounding box: center (-0.3, -0.23, 0.1699999999999999), width 0.2 m, length 0.2 m, height 0.15 m, rotation 0
Scene: scene_00112_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: To store gardening tools, place a slender tool rack that is 0.65 meters long, 0.25 meters wide, and 0.2 meters high neatly in the center of the larger wooden table, closely against the rail, effectively utilizing the unused vertical space.
Target 3D bounding box: center (0.53, -1.4, 1.07), width 0.25 m, length 0.65 m, height 0.2 m, rotation 90
Scene: scene_00109_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: In front of the gray leather sofa, which has a backpack on it, add an elliptical carpet with a diameter of 1.1 meters, ensuring the center of the carpet aligns with the center of the sofa.
Target 3D bounding box: center (-1.79358387779432, 0.04105692506129399, 0.04031867574178993), width 1.1 m, length 1.1 m, height 0.02 m, rotation 0
Scene: scene_00109_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the largest window, at the position against the wall directly below the windowsill of the largest window, add a new rectangular storage box with a width of 0.4 meters, a length of 0.8 meters, and a height of 0.6 meters. Ensure it is located 0.3 meters to the left of the chair with pillows placed beneath the windowsill.
Target 3D bounding box: center (4.57, 0.7200000000000001, 0.3799999999999999), width 0.4 m, length 0.8 m, height 0.6 m, rotation 0
Scene: scene_00109_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the TV, place an indoor plant that is 0.5 meters wide, 0.5 meters long, and 0.8 meters high underneath it, ensuring it is flush against the front of the tv cabinet and that the far left end of the plant aligns with the far right end of the tv.
Target 3D bounding box: center (0.674203925265996, 1.40088157941983, 0.4449156122712199), width 0.5 m, length 0.5 m, height 0.8 m, rotation 0
Scene: scene_00109_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the tv cabinet, place a remote-controlled toy car measuring 0.5 meters in length, 0.25 meters in width, and 0.3 meters in height beneath the tv cabinet. The toy car should be snugly positioned against the right side of the tv cabinet and the wall where the tv cabinet is located.
Target 3D bounding box: center (1.22, 1.64, 0.1899999999999999), width 0.5 m, length 0.25 m, height 0.3 m, rotation 0
Scene: scene_00111_00 (source dataset: multiscan)
Grounding level: space_level (Size Understanding)
Referring expression: Combine all the wall lights above the sink into a larger light.
Target 3D bounding box: center (0.294120867812514, -0.382691511613589, 2.23567710370638), width 0.14 m, length 1 m, height 0.25 m, rotation 0
Scene: scene_00111_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a 0.35 meter long, 0.4 meter high, and 0.15 meter wide ornamental plant close against the wall between the front edge of the toilet and the carpet to enhance the bathroom's aesthetics without obstructing toilet use.
Target 3D bounding box: center (-0.43979811297138, 0.904491984783088, 0.29907045745258), width 0.15 m, length 0.35 m, height 0.4 m, rotation 90
Scene: scene_00111_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: Imagine you are organizing the bathroom. Place a washing basket with a width of 0.4 meters, a length of 0.5 meters, and a height of 0.7 meters above the carpet in the corner next to the toilet to hold used towels.
Target 3D bounding box: center (-0.83982273466, 0.452433716916319, 0.442729158871221), width 0.4 m, length 0.5 m, height 0.7 m, rotation 0
Scene: scene_00111_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the mirror, on the wall 0.5 meters above the jewelry box to the right of the sink cabinet, install a towel rack that is 0.5 meters long, 0.2 meters wide, and 0.05 meters high, ensuring that towels are conveniently accessible after washing hands in the sink.
Target 3D bounding box: center (0.306951456750803, -0.8480787194106869, 1.537107844377473), width 0.5 m, length 0.2 m, height 0.05 m, rotation 0
Scene: scene_00108_00 (source dataset: multiscan)
Grounding level: space_level (Size Understanding)
Referring expression: Facing the bright white fridge, replace the rubbish bin next to it with a recycling bin that has a height of 0.8 meters, keeping the other dimensions unchanged.
Target 3D bounding box: center (-0.383013053468452, -0.134632055777048, 0.4961096266882549), width 0.43 m, length 0.31 m, height 0.8 m, rotation 90
Scene: scene_00108_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing away from the fridge, a new dining table measuring 1.5 meters in length, 1.0 meter in width, and 0.75 meters in height is positioned directly in front of the stainless steel sink. Ensure there is a 1.1-meter gap between the new dining table and the kitchen countertop with the stainless steel sink. The exact center of the new dining table aligns with the exact center of the sink.
Target 3D bounding box: center (2.27069655572559, -0.93411394246201, 0.4626461025519589), width 1 m, length 1.5 m, height 0.75 m, rotation 0
Scene: scene_00108_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a small plant with dimensions of 0.3 meters in length, 0.3 meters in width, and 0.4 meters in height on the floor beside the left side of the cabinet with the sink, positioned in front of the door closest to the fridge, facing away from the door. Ensure it aligns with the column supporting the ceiling.
Target 3D bounding box: center (0.1575153285181295, 0.361311349267346, 0.2785102554874499), width 0.3 m, length 0.3 m, height 0.4 m, rotation 0
Scene: scene_00108_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Face the column closest to the fridge, and place a small ornamental plant with dimensions of 0.22 meters in length, 0.12 meters in width, and 0.2 meters in height on the floor, tightly against and centered on the column closest to the fridge. Align its exact center with the center of the column closest to the fridge to maintain a tidy appearance.
Target 3D bounding box: center (-1.60418808883173, 0.306785678520172, 0.1936228557631099), width 0.22 m, length 0.12 m, height 0.2 m, rotation 0
Scene: scene_00108_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place the second shoe shelf right next to the fashionable black and white sneakers, tight against the wall, measuring 0.26 meters in length, 0.18 meters in width, and 0.5 meters in height, to fit the compact space. The new shoe shelf should complement the existing design.
Target 3D bounding box: center (-1.0906392099423, 1.274242438243951, 0.34475322458979), width 0.18 m, length 0.26 m, height 0.5 m, rotation 0
Scene: scene_00107_00 (source dataset: multiscan)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the mirror above the sink with a wider mirror, with a width of 0.9 meters, keeping the height unchanged.
Target 3D bounding box: center (0.98, 0.36, 1.61), width 0.06 m, length 0.9 m, height 1.04 m, rotation 0
Scene: scene_00107_00 (source dataset: multiscan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the toilet, place a floor mat 0.2 meters directly in front of the base of the toilet, with the far right end of the mat snug against the far left end of the bathtub. The dimensions of the mat should be 0.5 meters in width, 0.7 meters in length, and 0.01 meters in thickness.
Target 3D bounding box: center (-0.163050537938002, -0.4433205116815698, 0.0786772107298801), width 0.5 m, length 0.7 m, height 0.01 m, rotation 0
Scene: scene_00107_00 (source dataset: multiscan)
Grounding level: space_level (Situation Understanding)
Referring expression: When sitting on the toilet, a freestanding toilet paper holder measuring 0.15 meters long, 0.15 meters wide, and 0.7 meters high is placed immediately to the left, next to the shower curtain, to ensure easy access.
Target 3D bounding box: center (0.412006620426808, -0.705776276828034, 0.4317647623463801), width 0.15 m, length 0.15 m, height 0.7 m, rotation 0
Scene: scene_00107_00 (source dataset: multiscan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a bath mat measuring 0.4 meters in length, 0.4 meters in width, and 0.01 meters in thickness snugly in the center of the bottom edge of the sink cabinet. Ensure it is centrally located to provide a comfortable standing spot when using the sink and to prevent water overflow.
Target 3D bounding box: center (0.29, 0.4299999999999999, 0.07000000000000006), width 0.4 m, length 0.4 m, height 0.01 m, rotation 0
Scene: 0cac7678-8d6f-2d13-8da3-dba8636cef51 (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the table with another table that has a height of 0.7 meters, while keeping the other dimensions of the table unchanged.
Target 3D bounding box: center (1.34, 1.88, 0.49), width 0.47 m, length 0.49 m, height 0.7 m, rotation 0
Scene: 0cac7678-8d6f-2d13-8da3-dba8636cef51 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Place a new floor light, which is 1.8 meters high and 0.5 meters in both length and width, to the right of the bed table, 1 meter away from the wardrobe closet, and right next to the bed table.
Target 3D bounding box: center (-0.05112475582473008, 1.212701879783695, 1.019699096422294), width 0.5 m, length 0.5 m, height 1.8 m, rotation 0
Scene: 0cac7678-8d6f-2d13-8da3-dba8636cef51 (source dataset: 3RScan)
Grounding level: space_level (Situation Understanding)
Referring expression: If you are standing at the foot of the bed and need additional storage space, please position a spacious wooden box with the dimensions 1.2m x 0.5m x 0.6m in the middle of the foot of the bed, ensuring that it does not obstruct the passage or nearby furniture.
Target 3D bounding box: center (1.88, -0.5199999999999998, 0.4199999999999999), width 0.5 m, length 1.2 m, height 0.6 m, rotation 177
Scene: 0cac7678-8d6f-2d13-8da3-dba8636cef51 (source dataset: 3RScan)
Grounding level: space_level (Situation Understanding)
Referring expression: Imagine sitting on an armchair near the headboard, with a full-length mirror measuring 0.57 meters in length, 2 meters in height, and 0.01 meters in thickness leaning against a white wardrobe behind the armchair. The far right side of the mirror is positioned at the corner of the wardrobe and placed flush with the floor.
Target 3D bounding box: center (-1.23, 2.68, 1.2), width 0.01 m, length 0.57 m, height 2 m, rotation 0
Scene: 0cac7678-8d6f-2d13-8da3-dba8636cef51 (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Double the height of the existing bed table on the side of the armchair, and place the new, taller bed table to the right, close to the original bed table, keeping the front of the bed tables aligned.
Target 3D bounding box: center (0.06999999999999984, 1.25, 0.88), width 0.38 m, length 0.53 m, height 1.5 m, rotation 0
Scene: 7747a514-9431-24e8-8505-5979f3f20906 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Add a new lamp on the desk, positioned 0.6 meters away from the windows on the wall. Its height should be 0.6 meters, with a base diameter of 0.25 meters.
Target 3D bounding box: center (-0.581268389791876, -0.1513897553253071, 2.877422290639686), width 0.25 m, length 0.25 m, height 0.6 m, rotation 0
Scene: 7747a514-9431-24e8-8505-5979f3f20906 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Face the windows, and move the rubbish bin 0.5 meters to the right, keeping it directly below the windows.
Target 3D bounding box: center (-1.13633339883243, 0.4905013079754799, 1.95440707341419), width 0.25 m, length 0.32 m, height 0.28 m, rotation 0
Scene: 7747a514-9431-24e8-8505-5979f3f20906 (source dataset: 3RScan)
Grounding level: space_level (Situation Understanding)
Referring expression: Imagine sitting at the bedside working. Facing the book rack, a coffee table with dimensions of 0.6m x 0.4m x 0.96m is placed on the floor 0.28 meters directly in front of the book rack for comfortably placing work materials.
Target 3D bounding box: center (0.2461353177213866, 0.6704381631999399, 2.32388326847198), width 0.6 m, length 0.4 m, height 0.96 m, rotation 0
Scene: 7747a514-9431-24e8-8505-5979f3f20906 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Install a door mounted coat rack with dimensions of 0.6 meters × 0.1 meters × 0.1 meters on the gate. It should be positioned 1.5 meters above the floor, equidistant from both sides of the door frame, to conveniently hang coats and caps when entering or exiting.
Target 3D bounding box: center (0.6640372049134811, -1.74794570281425, 3.380785785675818), width 0.1 m, length 0.6 m, height 0.1 m, rotation 90
Scene: 7747a514-9431-24e8-8505-5979f3f20906 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the wardrobe, add a new wardrobe measuring 0.65 meters by 0.27 meters by 2.36 meters against the wall on the left side of the existing wardrobe.
Target 3D bounding box: center (0.14, -1.49, 3.01), width 0.27 m, length 0.65 m, height 2.36 m, rotation 0
Scene: bcb0fe0a-4f39-2c70-9d5f-a7263a0180ca (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the wall above the sofa, hang a medium-sized mirror tightly beneath the picture on the left side. The mirror's dimensions are 0.9 meters in length, 0.03 meters in width, and 0.9 meters in height.
Target 3D bounding box: center (-2.14, -1.92, 1.78), width 0.03 m, length 0.9 m, height 0.9 m, rotation 0
Scene: bcb0fe0a-4f39-2c70-9d5f-a7263a0180ca (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Move the 40-inch TV 0.2 meters directly upwards.
Target 3D bounding box: center (1.61085826600408, -2.15198024948023, 1.776888330587443), width 0.19 m, length 0.8 m, height 0.58 m, rotation 0
Scene: bcb0fe0a-4f39-2c70-9d5f-a7263a0180ca (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a shelf unit on the floor, with the dimensions of the shelf unit being 0.26 meters x 0.33 meters, and a height of 0.09 meters, positioned in the center of the floor between the cabinet under the tv and the cabinet on its left side.
Target 3D bounding box: center (1.44731105341662, -1.14413035346651, 0.5893455321649301), width 0.26 m, length 0.33 m, height 0.09 m, rotation 0
Scene: bcb0fe0a-4f39-2c70-9d5f-a7263a0180ca (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Face the wall and move the picture that is above the sofa on the left side downwards by 0.4 meters, so its bottom edge is close to the top of the sofa.
Target 3D bounding box: center (-2.16, -1.92, 2.18), width 0.05 m, length 0.79 m, height 0.66 m, rotation 0
Scene: bcb0fe0a-4f39-2c70-9d5f-a7263a0180ca (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the sofa, in the middle position against the wall between the cupboard and the sofa, add a blue armchair measuring 0.8m x 0.8m x 1m. Ensure it is placed diagonally to create a cozy reading nook.
Target 3D bounding box: center (-1.69, 0.3799999999999999, 1.04), width 0.8 m, length 0.8 m, height 1 m, rotation 45
Scene: 0cac7547-8d6f-2d13-8c9c-08cad6632f46 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Add a tall plant that is 1 meter high and 0.5 meter in diameter, placing it in the center of the table right next to the wall.
Target 3D bounding box: center (0.01000000000000001, 3.35, 3.55), width 0.5 m, length 0.5 m, height 1 m, rotation 0
Scene: 0cac7547-8d6f-2d13-8c9c-08cad6632f46 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Install a hanging plant on the ceiling directly above this room. Its length and width are both 0.5 meters, and the plant should hang down 0.8 meters.
Target 3D bounding box: center (-0.13, 0.4500000000000002, 4.96), width 0.5 m, length 0.5 m, height 0.8 m, rotation 0
Scene: 0cac7547-8d6f-2d13-8c9c-08cad6632f46 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Install a clock with a length and width of 0.5 meters and a thickness of 0.2 meters at the center 0.3 meters above the brown wood finish door, ensuring it is clearly visible when entering the room.
Target 3D bounding box: center (1.45, 2.88, 4.89), width 0.5 m, length 0.2 m, height 0.5 m, rotation 0
Scene: 0cac7547-8d6f-2d13-8c9c-08cad6632f46 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the gate, standing next to the white glass windows with a black frame, place a small box with dimensions of 0.4m x 0.4m and a height of 0.5m on the bench on the side close to the entrance. Ensure it is positioned close to the windowsill to hold the ornament.
Target 3D bounding box: center (1.51, 1.56, 3.07), width 0.4 m, length 0.4 m, height 0.5 m, rotation 0
Scene: c7895f2f-339c-2d13-8388-28e95af958de (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the curtains in front of the windows near the dining table with curtains that have a height of 2.7 meters, keeping the other dimensions unchanged.
Target 3D bounding box: center (-0.5499999999999998, -3.15, 1.9), width 1.38 m, length 0.29 m, height 2.7 m, rotation 0
Scene: c7895f2f-339c-2d13-8388-28e95af958de (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Add a cushion with a length and width of 0.6 meters each and a height of 0.2 meters, and place it 0.5 meters away from the book rack, adjacent to the wall.
Target 3D bounding box: center (-1.28980932878425, 0.5541764535506098, 0.6499999999999999), width 0.62 m, length 0.58 m, height 0.2 m, rotation 0
Scene: c7895f2f-339c-2d13-8388-28e95af958de (source dataset: 3RScan)
Grounding level: space_level (Situation Understanding)
Referring expression: When setting the dining table, place a decorative fruit plate with a diameter of 0.25 meters and a height of 0.12 meters in the center of the dining table, which is both stylish and practical.
Target 3D bounding box: center (1.01, -2.34, 1.42), width 0.25 m, length 0.25 m, height 0.12 m, rotation 0
Scene: c7895f2f-339c-2d13-8388-28e95af958de (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a dumbbell that is 0.5 meters in length, 0.25 meters in width and height, and weighs 15 kilograms on one side of the gray sofa that is next to the wall, positioning it near the outer edge of the sofa close to the wall.
Target 3D bounding box: center (2.19, 0.57, 1.09), width 0.5 m, length 0.25 m, height 0.25 m, rotation 0
Scene: 751a5598-fe61-2c3b-8cf2-1c23632af9b4 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the windows, place a potted plant 0.6 meters tall and 0.4 meters in diameter on the floor at the exact center of the wall between the two windows, with the potted plant placed right against the wall.
Target 3D bounding box: center (-0.3199999999999994, 2.8, 0.53), width 0.4 m, length 0.4 m, height 0.6 m, rotation 0
Scene: 751a5598-fe61-2c3b-8cf2-1c23632af9b4 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Face the windows, shift the backpack to the right side to the wall, and align it closely against the wall.
Target 3D bounding box: center (4.91, 0.03999999999999998, 0.45), width 0.42 m, length 0.33 m, height 0.46 m, rotation 0
Scene: 751a5598-fe61-2c3b-8cf2-1c23632af9b4 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the windows, on the desk closest to the right window, at the middle position on the side of the desk near the windows, place a small potted plants with a diameter of 0.2 meters and a height of 0.3 meters right against the windowsill.
Target 3D bounding box: center (2.13, 2.82, 1.09), width 0.2 m, length 0.2 m, height 0.3 m, rotation 0
Scene: 751a5598-fe61-2c3b-8cf2-1c23632af9b4 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Install a small clock with a diameter of 0.3 meters and a thickness of 0.06 meters above the wall between the two windows near the heater area. The small clock should be at a height of 1.5 meters from the windowsill, ensuring visibility from the desk seating for quick reference of time.
Target 3D bounding box: center (-0.3199999999999994, 3.03, 2.71), width 0.3 m, length 0.06 m, height 0.3 m, rotation 0
Scene: 8eabc410-5af7-2f32-844d-34726ad2dc7e (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the whiteboard, add a small table against the wall 0.4 meters to the left of the brown wood-framed chair behind the gate. The dimensions of the table are 0.4 meters in width, 0.5 meters in length, and 0.6 meters in height.
Target 3D bounding box: center (2.29155152820763, 3.15906151162103, 1.72145351465704), width 0.4 m, length 0.5 m, height 0.6 m, rotation 0
Scene: 8eabc410-5af7-2f32-844d-34726ad2dc7e (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the radiator, place a small round table with a diameter of 0.6 meters and a height of 0.5 meters against the wall between the two radiators on the left side and in the middle.
Target 3D bounding box: center (-3.04, -0.8, 1.67), width 0.6 m, length 0.6 m, height 0.5 m, rotation 0
Scene: 8eabc410-5af7-2f32-844d-34726ad2dc7e (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Stand facing the windows. On the windowsill of the jalousie on the left side, place an artificial plant with a diameter of 0.3 meters and a height of 0.85 meters, located 0.3 meters from the right side of the white vertical jalousie.
Target 3D bounding box: center (-3.12, -1.7, 2.67), width 0.3 m, length 0.3 m, height 0.85 m, rotation 0