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An end-to-end GoC testbed for Physical AI is developed, which connects a PiPER robot arm equipped with an RGB-D camera and a 5G modem to an NVIDIA Jetson AGX Orin edge server through a 5G OpenAirInterface network, and three GoC frameworks that transmit 3D bounding boxes, 2D scene graphs, and 3D scene graphs, as three types of semantic representations are implemented.