txwang98/Anywhere3D huggingface dataset:
Scene: 6bde60d2-9162-246f-8dbf-dbd911924def (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Install a new gate on the wall opposite the current gate with the new gate being twice the width of the current gate, while maintaining the same height and thickness as the existing gate, to facilitate access.
Target 3D bounding box: center (1.17, -1.33, 1.17), width 0.12 m, length 2.24 m, height 2.1 m, rotation 0
Scene: 5630cfdc-12bf-2860-87b7-c7eab95718be (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Move the cupboard near the wall 0.4 meters to the left to make more space at the bedside.
Target 3D bounding box: center (1.96, -0.44, 0.52), width 0.74 m, length 1.03 m, height 0.66 m, rotation 177
Scene: 5630cfdc-12bf-2860-87b7-c7eab95718be (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the bed, an ornamental plant with dimensions of 0.13 meters in length, 0.09 meters in width, and 40 centimeters in height is placed at the center of the bed table on the left side of the bed. This adds a touch of greenery to the sleeping area while ensuring the drawers of the bed table remain accessible.
Target 3D bounding box: center (1.4, -1.48, 0.9600000000000001), width 0.09 m, length 0.13 m, height 0.4 m, rotation 0
Scene: 5630cfdc-12bf-2860-87b7-c7eab95718be (source dataset: 3RScan)
Grounding level: space_level (Situation Understanding)
Referring expression: Sit at the end of the bed, facing the wardrobe closet, and place a small round table with a diameter of 0.5 meters and a height of 0.6 meters tightly in front of the chairs on the right side.
Target 3D bounding box: center (2.16, 0.9800000000000001, 0.49), width 0.5 m, length 0.5 m, height 0.6 m, rotation 85
Scene: 5630cfdc-12bf-2860-87b7-c7eab95718be (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the headboard, move the chair on the right side of the bed 1.65 meters backward towards the wardrobe, ensuring it's tight against the wall and placed on the floor.
Target 3D bounding box: center (-1.40592959863799, 0.480437418353727, 0.664823877664247), width 0.56 m, length 0.56 m, height 0.91 m, rotation 87
Scene: bf9a3df5-45a5-2e80-82c1-b108dc9a3fbe (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Add a floor light at the exact center of the pet bed, with a height of 1.5 meters and a base diameter of 0.3 meters.
Target 3D bounding box: center (-0.400338969151371, 0.3263031219127304, 0.9822341763556839), width 0.3 m, length 0.3 m, height 1.5 m, rotation 0
Scene: bf9a3df5-45a5-2e80-82c1-b108dc9a3fbe (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the pet bed, place a chair that is 0.4 meters wide, 0.5 meters long, and 0.9 meters high on the carpet to the right of the pet bed, closely against the wall.
Target 3D bounding box: center (-0.6, 1.07, 0.5299999999999999), width 0.4 m, length 0.5 m, height 0.9 m, rotation 0
Scene: bf9a3df5-45a5-2e80-82c1-b108dc9a3fbe (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a reading lamp on the ceiling directly above the shelves for placing clothes and shoes, providing ample light for the area without being too glaring or direct, which could hinder nighttime organizing tasks. The dimensions are 0.12 meters long, 0.1 meters wide, and 0.02 meters thick.
Target 3D bounding box: center (0.87, -2.03, 2.55), width 0.1 m, length 0.12 m, height 0.02 m, rotation 0
Scene: bf9a3df5-45a5-2e80-82c1-b108dc9a3fbe (source dataset: 3RScan)
Grounding level: space_level (Situation Understanding)
Referring expression: Imagine facing the wardrobe, adjusting its thickness to 1.5 times the original size while still placing it against the wall.
Target 3D bounding box: center (0.606148601904707, -0.7001935485188497, 1.259650218722524), width 1 m, length 1.6 m, height 2.35 m, rotation 0
Scene: bf9a3df5-45a5-2e80-82c1-b108dc9a3fbe (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Against the back of the translucent door, directly at the center of the hook on the shelf closest to the pet bed, add an additional hook with a diameter of 0.15m and a height of 0.2m, suitable for hanging a lightweight coat.
Target 3D bounding box: center (-0.7, 0.79, 1.83), width 0.15 m, length 0.15 m, height 0.2 m, rotation 0
Scene: 1d233ff0-e280-2b1a-8c10-2af29c344ee3 (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the rubbish bin closest to the toilet with a larger rubbish bin, with dimensions of 0.3 meters in width, 0.3 meters in length, and 0.4 meters in height.
Target 3D bounding box: center (0.29, 0.7000000000000001, 1.49), width 0.3 m, length 0.3 m, height 0.4 m, rotation 0
Scene: 1d233ff0-e280-2b1a-8c10-2af29c344ee3 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a small bath mat that is 1 meter long, 0.7 meters wide, and 0.01 meters thick on the floor directly in front of the sink, right next to the rubbish bin, ensuring it is parallel to the wall.
Target 3D bounding box: center (-0.06, -0.64, 1.3), width 1 m, length 0.7 m, height 0.01 m, rotation 90
Scene: 1d233ff0-e280-2b1a-8c10-2af29c344ee3 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the cabinet, install a wall-mounted shelf at the center point tightly adjacent to the right side of the cabinet. Its dimensions are 0.4 meters wide, 0.2 meters deep, and 0.15 meters high, providing additional storage space next to the right side of the cabinet.
Target 3D bounding box: center (0.9864560634949561, -0.732668130362391, 2.545082815935808), width 0.2 m, length 0.4 m, height 0.15 m, rotation 0
Scene: 1d233ff0-e280-2b1a-8c10-2af29c344ee3 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the sink, place a decorative soap dish aligned with the center point on the left side of the sink, with dimensions of 0.1 meters in length, 0.1 meters in width, and 0.05 meters in height, positioned 0.1 meters above the sink, to enhance the aesthetic and functionality of the bath counter.
Target 3D bounding box: center (-0.664876436237301, -1.12979795348453, 2.174036027971428), width 0.1 m, length 0.1 m, height 0.05 m, rotation 0
Scene: 1d233ff0-e280-2b1a-8c10-2af29c344ee3 (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Enlarge the height of the toilet to 1.1 meters, keeping other dimensions unchanged.
Target 3D bounding box: center (-0.4859804929066359, 0.613957933376408, 1.83470793357548), width 0.73 m, length 0.4 m, height 1.1 m, rotation 0
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the bed, move the black chair behind the desk to a position directly in front of and 0.4 meters away from the bench.
Target 3D bounding box: center (-0.5, -2.22, 1.7), width 0.7 m, length 0.71 m, height 0.81 m, rotation 0
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the clothes, move the rubbish bin 0.6 meters to the left and place it against the wall, making it farther from the clothes.
Target 3D bounding box: center (2.08283218879895, 0.6948037901312201, 1.39881936525751), width 0.21 m, length 0.33 m, height 0.23 m, rotation 90
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Imagine that you are sitting at the bedside facing the plants. Directly adjacent to the right side of the plants, against the wall, there is a wooden sidetable measuring 0.4 meters x 0.4 meters x 0.4 meters, situated 0.3 meters away from the potted plants. This sidetable is a convenient spot for placing a table lamp or books.
Target 3D bounding box: center (2.01684095065249, 1.19818376823818, 1.49015142963297), width 0.4 m, length 0.4 m, height 0.4 m, rotation 0
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the large bed, place a reading lamp with a diameter of 0.2 meters and a height of 0.4 meters against the wall at the upper right corner of the table beside the head of the bed, ensuring its height is suitable for nighttime reading.
Target 3D bounding box: center (-1.7453683249715, 2.00268012190949, 2.234148507133777), width 0.2 m, length 0.2 m, height 0.4 m, rotation 0
Scene: ebc42041-82a4-2113-8583-cc8c1be818b3 (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Add a new, larger light that is twice the height of the existing light, aligning its center with the center of the current light.
Target 3D bounding box: center (-0.86953687078553, -0.20545916755883, 3.360906362676511), width 0.49 m, length 0.55 m, height 0.54 m, rotation 0
Scene: 75c259a1-9ca2-2844-973c-adc28f935d5d (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Place another light of the same size as the existing one directly above the center of the room, 2.7 meters above the floor, on the ceiling, ensuring it is parallel to the side of the current light on the right.
Target 3D bounding box: center (-0.8258643344542871, 0.078328381353722, 3.07029344170187), width 0.21 m, length 0.5 m, height 0.04 m, rotation 90
Scene: 75c259a1-9ca2-2844-973c-adc28f935d5d (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the fridge, place a fruit basket with a diameter of 0.3 meters and a height of 0.4 meters on the kitchen cabinets on the left side of the fridge. The fruit basket should be placed at the center of the rightmost edge of the cabinets.
Target 3D bounding box: center (-0.04289294433146007, -1.11960348425269, 1.490320281191915), width 0.3 m, length 0.3 m, height 0.4 m, rotation 0
Scene: 75c259a1-9ca2-2844-973c-adc28f935d5d (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the white wooden kitchen cabinets with a black oven, place a soap dispenser with dimensions of 0.1m*0.1m*0.05m at the bottom right corner of the kitchen cabinets to ensure easy access while washing dishes.
Target 3D bounding box: center (-3.27425515017599, -0.9217777972348999, 1.319684448399072), width 0.1 m, length 0.1 m, height 0.05 m, rotation 0
Scene: 75c259a1-9ca2-2844-973c-adc28f935d5d (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Face the fridge and replace the white wooden kitchen cabinets with a kitchen sink on the left side of the fridge with another cabinet. The height of this cabinet will be increased to 1.2 meters, while the other dimensions remain unchanged.
Target 3D bounding box: center (0.5299479546311598, -1.11386974621359, 0.99580254812026), width 0.64 m, length 1.45 m, height 1.2 m, rotation 90
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the wall mounted heater with a thicker new heater, having a thickness of 0.3 meters, while maintaining the same length and height.
Target 3D bounding box: center (0.311660519806305, 0.5140020619304899, 1.048447967894023), width 0.3 m, length 0.8 m, height 1.3 m, rotation 90
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the sink, move the beautician to the floor directly in front of the sink, 0.3 meters away, ensuring it is facing the mirror.
Target 3D bounding box: center (-0.1089231635258601, -0.571469931724581, 0.49368340285293), width 0.29 m, length 0.3 m, height 0.3 m, rotation 0
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Approach the white spherical toilet, and place a white 0.15 m × 0.07 m × 0.2 m toilet paper holder on the wall 0.1 meters to the right of the toilet's nearest toilet paper.
Target 3D bounding box: center (1.8397551997281, 0.08907678001785002, 1.183863852541455), width 0.07 m, length 0.15 m, height 0.2 m, rotation 90
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Face the sink and place a blue plastic rubbish bin with a diameter of 0.25 meters and a height of 0.36 meters on the floor at the right upper corner of the wall next to the sink. This position is convenient for disposing of toilet rolls and other rubbish, ensures easy access, and does not obstruct the bathroom walkway.
Target 3D bounding box: center (-0.9810741840210602, -0.3703416110343299, 0.5137333830283399), width 0.25 m, length 0.25 m, height 0.36 m, rotation 0
Scene: ba6fdaae-a4c1-2dca-8240-6fbe1cb25eb4 (source dataset: 3RScan)
Grounding level: space_level (Distance Understanding)
Referring expression: Lower the beautician by 30 centimeters and place it against the wall, moving her within the shower area to a lower position.
Target 3D bounding box: center (-0.9793460195800601, -0.4272138382258079, 0.7251157445052598), width 0.29 m, length 0.3 m, height 0.3 m, rotation 0
Scene: 42445984 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a medium-sized carpet measuring 2m x 4m and 0.02m thick directly under the dining table, with the chairs beside the dining table all positioned on the carpet.
Target 3D bounding box: center (0.1099999999999901, 0.1, 0.24), width 2 m, length 4 m, height 0.02 m, rotation 177
Scene: 42445984 (source dataset: arkitscene_valid)
Grounding level: space_level (Situation Understanding)
Referring expression: Sitting on a blue fabric chair with a wooden frame beside the table, place a portable fan measuring 0.3 meters wide, 0.3 meters long, and 0.5 meters high on the floor 0.5 meters directly in front of the chair to facilitate cooling.
Target 3D bounding box: center (-0.75264318791351, 0.9274856661451499, 0.4644130190401299), width 0.3 m, length 0.3 m, height 0.5 m, rotation 0
Scene: 42445984 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a small decorative carpet in the space in front of the fireplace, between the fireplace and the chairs, with a length consistent with the fireplace, a width of 0.5 meters, and a thickness of 0.01 meters, to enhance the comfort of the living room.
Target 3D bounding box: center (0.94, 0.1, 0.23), width 0.5 m, length 1.85 m, height 0.01 m, rotation 0
Scene: 45261182 (source dataset: arkitscene_valid)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the nightstand with another one that has a height of 0.7 meters, keeping the other dimensions unchanged.
Target 3D bounding box: center (-2.32, 0.8, 0.4500000000000001), width 0.45 m, length 0.5 m, height 0.7 m, rotation 0
Scene: 45261182 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the sink, place a new washing basket with a diameter of 0.35 meters and a height of 0.5 meters against the wall, 0.1 meters to the right from the bottom of the sink.
Target 3D bounding box: center (0.6033251143602401, -0.88194675935268, 0.3714855815029371), width 0.35 m, length 0.35 m, height 0.5 m, rotation 0
Scene: 45261182 (source dataset: arkitscene_valid)
Grounding level: space_level (Situation Understanding)
Referring expression: While sitting on the bed, place a reading lamp with a diameter of 0.15 meters and a height of 0.4 meters on the bed table. Position the reading lamp in the exact center of the bed table to ensure ample light when reading.
Target 3D bounding box: center (-2.41, 0.8500000000000001, 0.8000000000000002), width 0.15 m, length 0.15 m, height 0.4 m, rotation 0
Scene: 45261182 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the sink, place a toothbrush holder with a diameter of 0.1 meters and a height of 0.15 meters against the wall 0.15 meters to the right of the water faucet, to allow for easy access during daily oral hygiene routines.
Target 3D bounding box: center (0.7499999999999998, -1.02, 1.03), width 0.1 m, length 0.1 m, height 0.15 m, rotation 0
Scene: 45261182 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the toilet, the thickness of the cabinet to the right of the toilet is halved, with the length and height unchanged, and placed 0.18 meters from the toilet, aligned with the left side of the sink.
Target 3D bounding box: center (1.31, -0.6199999999999999, 0.3700000000000001), width 0.17 m, length 0.34 m, height 0.5 m, rotation 0
Scene: 44358538 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Facing the sink, place a soap dispenser with a height of 0.15 meters and a base diameter of 0.07 meters on the wall parallel to the sink surface, located 0.35 meters to the left of the water faucet.
Target 3D bounding box: center (-1.52, -0.1299999999999999, 1.07), width 0.07 m, length 0.07 m, height 0.15 m, rotation 0
Scene: 44358538 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Place a bath mat in front of the bathtub, with a distance of 0.82 meters between the center of the bath mat and the center of the bathtub. The dimensions of the bath mat should be 0.5 meters by 0.8 meters, with a thickness of 0.02 meters.
Target 3D bounding box: center (-0.2640433554832391, 1.01582727956521, 0.17607464955284), width 0.5 m, length 0.8 m, height 0.02 m, rotation 138
Scene: 44358538 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Stand next to the bathtub and place a rubber duck with a diameter of 0.1 meters and a height of 0.15 meters in the middle of the bathtub.
Target 3D bounding box: center (-0.89, 1.52, 0.3599999999999999), width 0.1 m, length 0.1 m, height 0.15 m, rotation 0
Scene: 44358538 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the sink, position a towel rack measuring 0.28m x 0.01m x 0.04m on the left side of the sink, ensuring it is aligned with the bottom edge of the mirror. Make sure it does not obstruct the sink or the use of existing toiletry.
Target 3D bounding box: center (-1.56, -0.1999999999999997, 1.46), width 0.01 m, length 0.28 m, height 0.04 m, rotation 0
Scene: 44358538 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Place a bathroom mat with a length of 1 meter, a width of 0.5 meters, and a thickness of 0.02 meters in front of the bathtub, ensuring that the center of the mat is 0.7 meters away from the center of the bathtub, and its length does not exceed the width of the bathtub's edge.
Target 3D bounding box: center (-0.3300000000000001, 1.02, 0.1799999999999999), width 0.5 m, length 1 m, height 0.02 m, rotation 143
Scene: 47331337 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the toilet, place a bathroom storage rack with a diameter of 0.1 meters and a height of 0.6 meters in the left corner of the toilet for conveniently storing extra toilet roll and cleaning supplies.
Target 3D bounding box: center (0.09000000000000002, 1.58, 0.6799999999999999), width 0.1 m, length 0.1 m, height 0.6 m, rotation 0
Scene: 47331337 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the sink, place a vase with a square base measuring 0.1 meters in length, 0.1 meters in width, and 0.3 meters in height on the countertop to the left of the sink, positioning it in the middle of the left edge of the countertop.
Target 3D bounding box: center (1.33, -0.05000000000000002, 1.37), width 0.1 m, length 0.1 m, height 0.3 m, rotation 0
Scene: 41254412 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the cabinet, place a chair measuring 0.45 meters long, 0.45 meters wide, and 0.9 meters tall tightly against the wall on the left side of the cabinet.
Target 3D bounding box: center (0.4200000000000004, 1.29, 0.51), width 0.45 m, length 0.45 m, height 0.9 m, rotation 5
Scene: 41254412 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: When lying on the bed, place a cushion measuring 0.4 meters x 0.4 meters x 0.02 meters on the left side of the bed, right against the bedside, and 0.4 meters away from the table, to provide extra comfort.
Target 3D bounding box: center (-0.0005804295305797957, -0.300217085056811, 0.09634622148920902), width 0.4 m, length 0.4 m, height 0.02 m, rotation 5
Scene: 41254412 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Facing the table, place a 0.12-meter x 0.12-meter x 0.35-meter bed table lamp on the right corner of tabletop, right against the wall, ensuring it can easily provide a light source for reading at night.
Target 3D bounding box: center (-0.08999999999999986, -1.16, 1.13), width 0.12 m, length 0.12 m, height 0.35 m, rotation 0
Scene: 41254412 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Move the cabinet to 0.2 meters from the end of the bed while keeping it aligned with the center of the bed.
Target 3D bounding box: center (0.8055019896652102, 1.18020542408285, 0.2447587753717581), width 0.46 m, length 0.93 m, height 0.55 m, rotation 95
Scene: 42446540 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Face the larger sofa and place the stool 0.1 meters to the right side of the sofa, close to the wall.
Target 3D bounding box: center (-0.3200000000000001, -0.4500000000000001, 0.53), width 0.45 m, length 0.67 m, height 0.39 m, rotation 0
Scene: 42446540 (source dataset: arkitscene_valid)
Grounding level: space_level (Distance Understanding)
Referring expression: Sitting on the larger sofa, a decorative floor lamp with a base diameter of 0.5 meters and a height of 1.7 meters is placed 0.1 meters to the left of the larger sofa against the wall, providing ample reading light.
Target 3D bounding box: center (-0.3500000000000001, -0.5299999999999999, 1.19), width 0.5 m, length 0.5 m, height 1.7 m, rotation 0
Scene: 42446540 (source dataset: arkitscene_valid)
Grounding level: space_level (Commonsense Understanding)
Referring expression: Place a light with a diameter of 0.15 meters and a height of 0.3 meters on a white round wooden table, ensuring it is positioned at the center next to the elegant floral pattern to achieve even lighting.
Target 3D bounding box: center (-1.02, 1.28, 1.24), width 0.15 m, length 0.15 m, height 0.3 m, rotation 0
Scene: 42445029 (source dataset: arkitscene_valid)
Grounding level: space_level (Size Understanding)
Referring expression: Replace the cabinet near the bed with a larger cabinet, measuring 0.6 meters wide, 0.8 meters long, and 0.7 meters high, with the cabinet still positioned against the headboard and the wall.
Target 3D bounding box: center (-0.28345840900723, 1.49638411845001, 0.571516531406915), width 0.8 m, length 0.6 m, height 0.7 m, rotation 4