Datasets:

NCDTech
/

real-robot-driving-sessions

t_s float64	sequence int64	ctrl_source string	ultra_front_mm int64	ultra_left_mm int64	ultra_right_mm int64	ultra_back_mm int64	ultra_grip_mm int64	ultra_front_valid int64	ultra_left_valid int64	ultra_right_valid int64	ultra_back_valid int64	ultra_grip_valid int64	heading_deg float64	pitch_deg float64	roll_deg float64	pos_y_mm int64	motor_left_pwm int64	motor_right_pwm int64	current_left_ma int64	current_right_ma int64	current_arm_ma int64	current_grip_ma int64	imu0_ax int64	imu0_ay int64	imu0_az int64	imu0_gx int64	imu0_gy int64	imu0_gz int64	imu1_ax int64	imu1_ay int64	imu1_az int64	imu1_gx int64	imu1_gy int64	imu1_gz int64	imu2_ax int64	imu2_ay int64	imu2_az int64	imu2_gx int64	imu2_gy int64	imu2_gz int64	imu3_ax int64	imu3_ay int64	imu3_az int64	imu3_gx int64	imu3_gy int64	imu3_gz int64	imu4_ax int64	imu4_ay int64	imu4_az int64	imu4_gx int64	imu4_gy int64	imu4_gz int64	imu5_ax int64	imu5_ay int64	imu5_az int64	imu5_gx int64	imu5_gy int64	imu5_gz int64	cam_fps int64	cam_wifi_rssi int64	cam_jpeg_kb int64	audio_level_db float64	audio_peak_freq_hz int64	env_lux_0 int64	env_lux_1 int64	env_temp_c float64	env_humidity_rh float64
0	0	IDLE	1,043	562	715	1,084	227	1	1	1	1	1	0	-34.4	-22.8	0	0	0	4,838	4,787	4,966	5,635	-24	-2	-20	4	25	6	-11	2	3	-4	-1	-13	-12	18	21	3	51	-11	-11	-5	2	0	6	1	-1	1	-15	1	-5	-1	-15	2	3	-20	4	-6	20	20	12	92.19	265	44	180	22.65	43.45
0.05	1	IDLE	1,043	562	715	1,084	227	1	1	1	1	1	0	-34	-22.7	0	0	0	4,966	4,922	5,088	5,616	-11	1	-7	-12	-35	-16	-6	7	0	7	-4	-1	22	-16	-21	-13	34	1	-3	-1	-3	-3	7	-3	16	13	-32	5	-18	-23	-6	-15	-54	1	5	0	20	20	12	92.19	265	44	180	22.65	43.45
0.1	2	IDLE	1,044	562	715	1,010	227	1	1	1	1	1	0	-33.6	-22.7	0	0	0	5,197	5,081	5,216	5,545	-22	-6	-13	-11	46	16	-22	6	5	0	1	7	-17	-1	-26	13	11	53	-1	-10	0	-8	0	11	9	-5	-18	-17	15	11	-16	-8	13	-26	-4	13	20	20	12	92.19	265	44	180	22.65	43.45
0.15	3	IDLE	1,043	562	719	1,092	227	1	1	1	1	1	0	-33.8	-22.1	0	0	0	5,203	5,331	5,318	5,565	20	6	-74	33	68	29	3	1	3	10	-10	0	-19	-1	-21	-3	11	20	-2	-4	0	0	-4	-1	-1	13	-14	-18	7	-13	-11	-30	42	-33	-19	37	20	20	12	93.17	62	44	181	22.65	43.45
0.2	4	IDLE	1,044	562	715	1,271	227	1	1	1	1	1	0	-34.8	-21.5	0	0	0	4,883	4,755	4,858	5,622	3	10	-35	-4	4	-15	-16	-8	10	14	4	-9	-12	-21	-37	2	-13	9	10	13	-1	7	-2	-2	-14	-3	0	-1	8	-10	-28	-2	18	25	4	-12	20	20	12	93.17	62	44	181	22.65	43.45
0.25	5	IDLE	1,043	562	715	1,272	227	1	1	1	1	1	0	-35.1	-20.3	0	0	0	4,883	4,864	4,838	5,590	12	-13	-15	-19	5	44	-5	-1	-4	10	0	-4	11	13	-18	-3	5	26	9	2	-8	6	-1	0	-15	-16	0	-12	-7	14	29	-9	-40	44	15	11	20	20	12	93.17	62	44	181	22.65	43.45
0.3	6	IDLE	1,043	562	715	1,079	227	1	1	1	1	1	0	-35	-21	0	0	0	5,113	4,659	4,775	5,616	-33	8	-22	-5	15	33	-9	11	-4	-3	-10	0	6	-23	-18	-11	37	10	-6	1	5	5	2	-5	4	-39	-9	11	5	0	9	25	-49	31	39	-19	20	20	12	93.17	62	44	181	22.65	43.45
0.361	7	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-34.6	-19.4	0	0	0	4,544	4,941	4,896	5,603	14	-12	-4	-13	-8	21	-14	12	-3	4	-6	8	-1	27	9	2	-1	20	-6	2	5	-7	2	-6	-10	2	-11	-13	3	-8	-10	-31	44	-27	-27	29	20	20	12	88.86	15	44	181	22.65	43.45
0.4	8	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-34.2	-17.8	0	0	0	4,544	4,941	4,896	5,603	14	-12	-4	-13	-8	21	-14	12	-3	4	-6	8	-1	27	9	2	-1	20	-6	2	5	-7	2	-6	-10	2	-11	-13	3	-8	-10	-31	44	-27	-27	29	20	20	12	88.86	15	44	181	22.65	43.45
0.45	9	IDLE	1,043	562	715	1,084	227	1	1	1	1	1	0	-34.4	-17.2	0	0	0	4,564	4,564	4,877	5,628	13	5	-42	9	41	1	0	11	3	-4	-8	2	-11	25	-44	45	-18	33	-11	-6	-2	-3	-6	4	-5	8	1	1	3	-18	-12	-7	6	-63	3	23	20	20	12	88.86	15	44	181	22.65	43.45
0.501	10	IDLE	1,043	562	715	1,079	227	1	1	1	1	1	0	-34.5	-17	0	0	0	4,826	4,704	4,589	5,622	-4	24	-33	-16	39	-8	-20	-1	1	5	-14	21	2	-15	-22	-7	24	47	-10	4	-22	-4	0	11	-7	9	3	-21	18	-5	22	-16	-14	14	-14	1	20	20	12	88.86	15	44	181	22.65	43.45
0.55	11	IDLE	1,043	562	715	1,079	227	1	1	1	1	1	0	-34.5	-17.4	0	0	0	4,576	4,608	4,870	5,577	-19	-3	-16	-59	16	34	-13	-8	3	7	-9	9	-2	-18	-18	-28	1	-8	-2	-7	5	-10	4	-4	-16	-4	-19	0	-14	-1	1	-3	-24	13	-24	15	20	20	12	90.77	156	44	181	22.65	43.45
0.6	12	IDLE	1,044	562	715	1,079	227	1	1	1	1	1	0	-34.5	-18	0	0	0	4,672	4,870	4,883	5,609	-36	23	-28	-16	17	18	-5	-12	15	6	1	-10	20	-26	-28	-39	7	-23	-3	-1	-8	0	8	3	-10	-5	-6	-18	13	-5	8	-7	1	0	-16	-4	20	20	12	90.77	156	44	181	22.65	43.45
0.65	13	IDLE	1,044	562	718	1,084	227	1	1	1	1	1	0	-33.9	-18.3	0	0	0	4,934	4,826	4,807	5,577	-19	-9	-4	-44	30	-5	8	1	-12	5	2	1	-11	-39	19	-21	-13	30	17	-8	3	-5	4	-7	-9	2	1	4	-39	10	28	-3	-38	-28	39	7	20	20	12	90.77	156	44	181	22.65	43.45
0.7	14	IDLE	656	562	715	1,088	227	1	1	1	1	1	0	-34	-18.8	0	0	0	4,781	4,838	4,787	5,616	-30	-12	-26	-33	17	28	2	10	-10	-1	-6	-5	11	-35	36	-37	12	-24	11	-6	8	-3	-4	2	14	-11	-11	-3	-17	2	14	23	-31	27	24	9	21	19	12	90.77	156	44	181	22.65	43.45
0.75	15	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-34.4	-18.7	0	0	0	4,634	4,519	4,813	5,673	-6	5	-27	-52	19	22	5	5	-6	8	2	5	26	-13	18	-35	4	37	-15	-2	-13	-7	13	-11	-4	-5	-6	12	-21	0	14	-10	-15	1	29	-1	21	19	12	86.81	515	44	181	22.65	43.45
0.8	16	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-34.7	-18.5	0	0	0	5,062	4,698	5,081	5,641	-6	5	-27	-52	19	22	5	5	-6	8	2	5	26	-13	18	-35	4	37	-15	-2	-13	-7	13	-11	5	6	1	-12	5	-8	-5	-6	8	-26	-14	-3	21	19	12	86.81	515	44	181	22.65	43.45
0.851	17	IDLE	1,044	562	715	1,280	227	1	1	1	1	1	0	-35.1	-18.3	0	0	0	5,069	5,145	4,947	5,603	-6	5	-27	-52	19	22	5	5	-6	8	2	5	26	-13	18	-35	4	37	-15	-2	-13	-7	13	-11	-12	-12	-10	7	-12	-11	-16	-22	28	-38	-10	13	21	19	12	86.81	515	44	181	22.65	43.45
0.9	18	IDLE	1,044	570	715	1,071	227	1	1	1	1	1	0	-35.5	-18.2	0	0	0	4,749	4,845	4,902	5,641	-6	5	-27	-52	19	22	5	5	-6	8	2	5	26	-13	18	-35	4	37	-15	-2	-13	-7	13	-11	-12	-12	-10	7	-12	-11	-16	-22	28	-38	-10	13	21	19	12	86.81	515	44	181	22.65	43.45
0.95	19	IDLE	1,044	562	715	1,272	227	1	1	1	1	1	0	-35.5	-18.1	0	0	0	4,960	4,864	4,775	5,622	-15	-6	-39	-13	48	5	-16	-16	5	0	-4	-1	7	-18	1	-35	50	-20	1	0	-8	-7	4	6	-12	-12	-10	7	-12	-11	-16	-22	28	-38	-10	13	21	19	12	88.33	312	44	181	22.65	43.45
1	20	IDLE	1,043	562	715	1,276	236	1	1	1	1	1	0	-35.2	-17.9	0	0	0	4,813	4,749	4,634	5,571	-9	-16	-16	-38	46	24	3	1	-1	7	7	3	-19	-11	-19	-3	19	-6	-10	-3	-1	-8	-4	-6	-12	-12	-10	7	-12	-11	-16	-22	28	-38	-10	13	21	19	12	88.33	312	44	181	22.65	43.45
1.05	21	IDLE	1,043	562	715	1,088	227	1	1	1	1	1	0	-34.7	-18.9	0	0	0	4,807	4,775	4,838	5,635	-32	-17	-6	-23	14	29	-1	4	1	5	-5	-4	19	-20	23	-30	53	18	8	-3	3	-12	2	6	8	-10	4	1	0	-2	20	26	-69	44	-2	-3	21	19	12	88.33	312	44	181	22.65	43.45
1.1	22	IDLE	1,043	562	715	1,088	227	1	1	1	1	1	0	-34.8	-18.5	0	0	0	4,966	4,877	4,960	5,596	-2	18	-36	-16	43	29	-13	-18	-9	8	11	-6	21	-52	31	-38	22	11	-9	-10	-3	-6	-2	7	-9	-11	-13	2	-21	3	-4	-34	-10	23	8	25	21	19	12	88.33	312	44	181	22.65	43.45
1.15	23	IDLE	1,043	570	715	1,079	227	1	1	1	1	1	0	-34.4	-18.3	0	0	0	4,864	4,468	4,615	5,628	-3	-30	-10	18	37	18	-10	-1	-4	4	-7	7	-19	7	-18	-10	-8	27	-5	-13	4	-7	-9	-1	3	-1	13	7	-8	-5	-23	-26	21	-15	-2	0	21	19	12	89.9	359	44	181	22.65	43.45
1.211	24	IDLE	1,044	562	715	1,202	227	1	1	1	1	1	0	-34.2	-18	0	0	0	4,800	4,717	4,813	5,648	-2	7	-8	-4	18	7	-5	-5	-6	5	-5	9	8	-3	-14	-10	-30	-8	-7	6	10	6	-9	-2	4	-5	-7	-1	-6	-10	-7	8	-31	13	29	32	21	19	12	89.9	359	44	181	22.65	43.45
1.25	25	IDLE	1,044	562	715	1,202	227	1	1	1	1	1	0	-34	-17.8	0	0	0	4,800	4,717	4,813	5,648	-2	7	-8	-4	18	7	-5	-5	-6	5	-5	9	8	-3	-14	-10	-30	-8	-7	6	10	6	-9	-2	4	-5	-7	-1	-6	-10	-7	8	-31	13	29	32	21	19	12	89.9	359	44	181	22.65	43.45
1.3	26	IDLE	1,043	562	715	1,084	227	1	1	1	1	1	0	-34.1	-17.3	0	0	0	4,998	4,954	4,960	5,603	4	26	-34	-9	-45	4	-3	-14	-2	-7	3	-1	-4	-35	20	-28	6	-10	0	-7	-5	-1	3	4	22	14	6	-4	19	4	3	-3	-29	57	31	-8	21	19	12	89.9	359	44	181	22.65	43.45
1.352	27	IDLE	1,047	562	715	1,268	227	1	1	1	1	1	0	-34.5	-17.4	0	0	0	4,838	4,749	4,992	5,628	-19	17	-48	-52	23	25	1	7	-11	-3	-6	1	34	26	12	-56	38	-5	3	9	-4	2	5	3	8	2	-9	22	-12	7	13	14	-5	13	32	14	21	19	12	84.11	281	44	181	22.65	43.45
1.4	28	IDLE	1,048	562	715	1,088	227	1	1	1	1	1	0	-34.9	-16.6	0	0	0	4,691	4,685	4,698	5,622	17	4	-34	38	22	33	-11	-2	-6	7	-10	-15	18	3	-10	10	13	29	-11	-14	4	9	8	3	3	8	-12	2	-14	7	-16	8	14	-22	9	22	21	19	12	84.11	281	44	181	22.65	43.45
1.45	29	IDLE	1,043	553	715	1,079	227	1	1	1	1	1	0	-33.9	-17.3	0	0	0	5,113	5,011	4,934	5,584	-18	-12	4	-24	-12	11	4	0	-5	0	1	-8	-8	-13	-16	-19	24	13	12	0	-2	1	7	3	8	10	-16	-5	9	13	7	4	1	-10	26	27	21	19	12	84.11	281	44	181	22.65	43.45
1.501	30	IDLE	1,043	562	715	1,075	227	1	1	1	1	1	0	-34	-18	0	0	0	4,896	4,851	4,800	5,584	-11	3	-8	-26	3	25	5	5	-7	12	0	-5	6	4	18	9	1	47	12	-6	-8	-9	4	-1	3	-6	-9	10	-18	-11	-4	13	-9	9	22	19	21	19	12	84.11	281	44	181	22.65	43.45
1.55	31	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-33.3	-19.1	0	0	0	4,960	4,691	4,775	5,616	-25	19	0	45	9	29	2	-19	14	-3	-3	3	27	18	-27	-10	18	19	0	-17	0	-9	-1	13	7	6	-6	-7	13	11	-8	18	34	11	26	37	21	19	12	87.03	15	44	181	22.65	43.45
1.601	32	IDLE	1,043	562	715	1,079	227	1	1	1	1	1	0	-33.1	-19.2	0	0	0	4,500	4,583	4,627	5,641	-26	-20	-22	-27	46	22	-16	8	-5	-1	-11	-4	20	9	-19	9	-23	43	-5	-11	9	-3	5	-11	8	-3	-19	-1	15	1	-4	15	31	10	2	38	21	19	12	87.03	15	44	181	22.65	43.45
1.65	33	IDLE	1,043	562	715	1,079	227	1	1	1	1	1	0	-33.3	-19.1	0	0	0	4,768	4,826	5,113	5,609	-6	4	-16	-53	16	0	16	-11	-5	8	-2	12	-9	-50	-16	-21	-11	-16	8	2	-8	-1	-2	10	-5	1	-10	-2	18	7	-16	36	12	4	4	16	21	19	12	87.03	15	44	181	22.65	43.45
1.7	34	IDLE	1,044	562	715	1,079	227	1	1	1	1	1	0	-32.7	-19.6	0	0	0	4,672	4,787	4,659	5,660	-50	-2	-6	-11	58	-7	-3	5	-4	3	-8	-3	-10	-11	-14	-29	51	-8	-5	2	-8	-15	-9	1	7	-8	-11	8	-10	22	-3	19	-1	7	-14	17	18	21	12	87.03	15	44	181	22.65	43.45
1.75	35	IDLE	1,043	562	715	1,079	227	1	1	1	1	1	0	-32.4	-19.6	0	0	0	4,890	4,896	4,973	5,584	-16	7	-12	-4	41	5	-14	-6	-5	4	3	3	9	-6	9	-20	18	10	-2	0	-3	-2	-13	8	3	-13	-1	-2	-14	-6	22	15	-54	41	31	-16	18	21	12	89.63	375	44	181	22.65	43.45
1.8	36	IDLE	1,043	562	715	1,276	227	1	1	1	1	1	0	-32	-19.6	0	0	0	4,934	4,711	4,730	5,628	-16	7	-12	-4	41	5	-14	-6	-5	4	3	3	9	-6	9	-20	18	10	-2	0	-3	-2	-13	8	7	0	21	24	-11	6	-8	8	23	-26	-11	-10	18	21	12	89.63	375	44	181	22.65	43.45
1.85	37	IDLE	1,044	558	715	1,006	227	1	1	1	1	1	0	-31.7	-19.6	0	0	0	5,018	4,902	5,094	5,596	-16	7	-12	-4	41	5	-14	-6	-5	4	3	3	9	-6	9	-20	18	10	-2	0	-3	-2	-13	8	9	-4	-22	16	-9	2	5	-31	-6	-11	45	-6	18	21	12	89.63	375	44	181	22.65	43.45
1.9	38	IDLE	1,043	562	715	1,267	227	1	1	1	1	1	0	-31.4	-19.7	0	0	0	4,979	5,145	5,094	5,526	-16	7	-12	-4	41	5	-14	-6	-5	4	3	3	9	-6	9	-20	18	10	-2	0	-3	-2	-13	8	9	-4	-22	16	-9	2	5	-31	-6	-11	45	-6	18	21	12	89.63	375	44	181	22.65	43.45
1.95	39	IDLE	1,043	562	719	1,088	227	1	1	1	1	1	0	-30.4	-19.9	0	0	0	5,241	4,954	5,152	5,507	-14	6	8	2	23	2	-20	-2	-7	3	-11	-5	0	-21	-47	-15	17	-17	-3	-5	-7	-9	-9	-5	9	-4	-22	16	-9	2	5	-31	-6	-11	45	-6	18	21	12	84.96	406	44	181	22.65	43.45
2	40	IDLE	1,044	562	715	1,272	227	1	1	1	1	1	0	-30	-20.5	0	0	0	4,826	5,005	4,851	5,603	-18	-4	-5	3	14	-7	2	-1	1	7	3	0	19	-3	-9	6	-1	7	-2	7	-7	3	4	0	9	-4	-22	16	-9	2	5	-31	-6	-11	45	-6	18	21	12	84.96	406	44	181	22.65	43.45
2.05	41	IDLE	1,043	562	715	1,084	227	1	1	1	1	1	0	-29.6	-19	0	0	0	4,858	4,883	4,941	5,577	18	11	-3	-13	14	7	-8	-11	-7	2	0	12	3	-16	4	-12	9	26	4	-9	-10	0	9	-7	6	-21	-4	-9	3	-12	1	-10	16	22	8	22	18	21	12	84.96	406	44	181	22.65	43.45
2.1	42	IDLE	1,044	562	719	1,075	227	1	1	1	1	1	0	-29.1	-20.1	0	0	0	5,075	5,145	4,954	5,558	-14	10	-1	-26	4	9	0	12	-5	-5	1	-9	31	-33	-42	-16	-18	-14	-5	-8	2	-6	8	-2	-6	-18	-10	11	4	-16	4	-9	-34	-2	-3	6	18	21	12	84.96	406	44	181	22.65	43.45
2.15	43	IDLE	1,044	562	719	1,075	227	1	1	1	1	1	0	-29.1	-20.7	0	0	0	5,190	5,273	5,312	5,558	-26	13	-17	14	12	21	-7	-3	1	11	-11	7	15	-8	3	14	56	-28	2	-3	10	3	-6	-1	7	1	-1	8	-8	15	-5	13	-3	-13	7	-4	18	21	12	86.66	125	44	180	22.58	43.54
2.2	44	IDLE	1,043	562	719	1,084	227	1	1	1	1	1	0	-29.9	-20.2	0	0	0	5,318	5,184	5,235	5,545	3	29	-19	-5	-7	1	3	4	-9	-7	-4	4	32	-24	-19	9	-15	49	11	-3	-6	2	3	-3	-1	-8	-18	-9	-9	0	-15	-17	-8	-37	5	35	18	21	12	86.66	125	44	180	22.58	43.54
2.25	45	IDLE	1,044	562	718	1,088	227	1	1	1	1	1	0	-29.6	-19.8	0	0	0	5,305	5,305	5,037	5,558	0	-8	-19	-3	60	-2	4	-5	5	5	-7	-7	2	-8	5	-7	19	-26	-13	-10	-12	-7	1	-2	4	-11	-8	-3	-11	-7	-6	14	-41	18	10	-23	18	21	12	86.66	125	44	180	22.58	43.54
2.3	46	IDLE	1,044	562	715	1,092	227	1	1	1	1	1	0	-30.3	-18.9	0	0	0	5,267	5,145	5,344	5,552	6	-1	-14	-21	-5	41	-14	10	-9	-9	-11	-4	14	3	-22	-26	23	2	-12	-10	1	-1	3	-9	7	25	-4	-15	-2	-3	37	-9	20	-23	-15	2	18	21	12	86.66	125	44	180	22.58	43.54
2.35	47	IDLE	1,043	562	714	1,092	227	1	1	1	1	1	0	-30.6	-18.8	0	0	0	5,261	5,171	5,248	5,526	-11	-15	-31	-4	30	5	-12	5	-2	11	3	10	38	-15	-2	-29	2	-14	3	2	3	12	-3	-3	-7	-22	-8	-2	-1	-3	-7	30	-7	-1	9	-17	18	21	12	86.46	15	44	180	22.58	43.54
2.4	48	IDLE	1,044	562	715	1,276	227	1	1	1	1	1	0	-30.7	-19.3	0	0	0	4,998	5,209	5,069	5,539	-35	-1	-34	-25	25	19	-3	-5	-1	0	-13	5	14	19	-8	-25	-1	-5	-9	8	-11	-3	-6	5	1	-2	-8	-2	9	-7	-10	17	4	5	16	35	18	21	12	86.46	15	44	180	22.58	43.54
2.45	49	IDLE	1,043	562	719	1,097	227	1	1	1	1	1	0	-29.7	-18.8	0	0	0	5,088	5,101	5,369	5,539	1	5	10	22	26	26	-15	7	-7	5	-9	-10	9	-4	-4	13	14	34	-6	15	14	3	-13	4	-1	2	-19	6	10	-1	-9	12	-16	10	-4	15	18	21	12	86.46	15	44	180	22.58	43.54
2.5	50	IDLE	1,044	562	719	1,088	227	1	1	1	1	1	0	-29.8	-18.5	0	0	0	5,273	5,050	5,158	5,565	-2	13	-39	10	53	-11	-3	-5	4	1	1	-3	-9	-9	-41	41	0	11	-1	-10	1	3	-7	7	23	5	1	-17	4	14	-29	3	34	-39	-27	35	18	21	12	86.46	15	44	180	22.58	43.54
2.55	51	IDLE	1,043	553	715	1,093	227	1	1	1	1	1	0	-30.2	-18.6	0	0	0	5,171	5,171	5,094	5,577	-16	-26	-28	41	20	9	-4	-3	-7	4	2	4	3	7	-31	11	-29	11	-9	0	-6	-3	-1	3	-7	16	-7	-2	-11	-17	-24	-11	25	-2	-30	25	18	21	12	89.38	406	44	180	22.58	43.54
2.6	52	IDLE	1,044	562	715	1,093	227	1	1	1	1	1	0	-30.8	-18.6	0	0	0	5,235	5,356	5,094	5,513	-15	6	-49	-12	20	44	-2	-1	-4	16	2	-4	11	-13	-31	0	-23	-13	-3	-9	0	-11	-2	-3	-12	1	-8	-9	22	-10	-9	29	13	13	-31	-14	18	21	12	89.38	406	44	180	22.58	43.54
2.65	53	IDLE	1,044	562	715	1,093	227	1	1	1	1	1	0	-30.6	-19.4	0	0	0	5,152	5,152	5,190	5,533	-29	11	-11	-41	11	33	-1	-8	-7	-3	-7	-11	0	-19	14	-25	15	33	-1	-11	8	-12	6	-1	5	4	-12	3	-7	-8	21	2	-12	3	-1	34	18	21	12	89.38	406	44	180	22.58	43.54
2.7	54	IDLE	1,044	562	715	1,092	227	1	1	1	1	1	0	-31.3	-19.2	0	0	0	5,299	5,376	5,165	5,513	-5	10	-32	-13	-15	-25	-1	12	2	6	-4	5	-14	-19	-38	-7	-15	-1	2	-7	-7	1	-3	-9	15	-4	-26	5	-17	8	22	1	-51	-1	39	4	18	20	12	89.38	406	44	180	22.58	43.54
2.75	55	IDLE	1,044	562	715	1,097	227	1	1	1	1	1	0	-30.9	-19.3	0	0	0	5,158	5,120	5,209	5,552	-12	-10	-6	-44	28	-1	-1	-1	-1	1	-2	-1	9	22	-10	-11	12	28	-18	-10	-6	-15	4	7	7	-2	-11	-5	1	6	19	-19	16	-26	-20	0	18	20	12	88.22	359	44	180	22.58	43.54
2.8	56	IDLE	1,044	562	715	1,092	227	1	1	1	1	1	0	-30.5	-19.3	0	0	0	5,331	5,107	5,005	5,565	-12	-10	-6	-44	28	-1	-1	-1	-1	1	-2	-1	9	22	-10	-11	12	28	-18	-10	-6	-15	4	7	-15	1	-1	-6	21	2	-21	3	1	0	3	46	18	20	12	88.22	359	44	180	22.58	43.54
2.85	57	IDLE	1,044	562	715	1,088	227	1	1	1	1	1	0	-30.1	-19.4	0	0	0	5,216	5,293	5,344	5,571	-12	-10	-6	-44	28	-1	-1	-1	-1	1	-2	-1	9	22	-10	-11	12	28	-18	-10	-6	-15	4	7	-2	10	-4	-1	27	-10	-21	25	67	51	-12	-6	18	20	12	88.22	359	44	180	22.58	43.54
2.9	58	IDLE	1,044	562	719	1,092	227	1	1	1	1	1	0	-29.7	-19.5	0	0	0	5,293	5,113	5,229	5,539	-12	-10	-6	-44	28	-1	-1	-1	-1	1	-2	-1	9	22	-10	-11	12	28	-18	-10	-6	-15	4	7	-2	10	-4	-1	27	-10	-21	25	67	51	-12	-6	18	20	12	88.22	359	44	180	22.58	43.54
2.95	59	IDLE	1,044	562	719	1,088	228	1	1	1	1	1	0	-29.2	-20	0	0	0	5,107	5,171	5,113	5,520	-41	12	-3	-12	39	27	-10	-6	2	3	0	-11	-7	-37	-23	-44	17	39	-2	-5	-2	-2	11	11	-2	10	-4	-1	27	-10	-21	25	67	51	-12	-6	18	20	12	87.14	500	44	180	22.58	43.54
3	60	IDLE	1,043	562	715	1,079	228	1	1	1	1	1	0	-28.9	-20.7	0	0	0	4,909	5,133	5,081	5,533	-54	9	-18	-28	30	22	-8	-8	1	-2	-7	-4	19	0	36	-17	17	11	-1	-10	-7	5	6	4	-2	10	-4	-1	27	-10	-21	25	67	51	-12	-6	18	20	12	87.14	500	44	180	22.58	43.54
3.05	61	IDLE	1,044	562	719	1,276	227	1	1	1	1	1	0	-28.5	-20.9	0	0	0	5,222	5,145	5,395	5,558	-8	-6	-2	1	15	22	-8	11	-5	8	2	5	25	14	-21	2	50	29	10	0	6	-4	0	5	-8	-1	-12	14	6	-22	-11	-21	15	17	20	3	18	20	12	87.14	500	44	180	22.58	43.54
3.1	62	IDLE	1,044	562	715	1,276	227	1	1	1	1	1	0	-29.2	-20.9	0	0	0	5,261	5,254	5,356	5,590	-16	-15	-40	24	8	8	-9	13	4	2	-14	-6	4	40	-25	14	49	3	6	-6	-5	2	-18	3	-6	9	11	2	28	-5	-18	-14	58	-27	2	37	18	20	12	87.14	500	44	180	22.58	43.54
3.15	63	IDLE	1,044	562	715	1,080	227	1	1	1	1	1	0	-29.8	-20.8	0	0	0	5,126	5,075	5,516	5,533	-13	-5	-35	-25	17	2	-13	-10	-6	-1	-5	3	17	7	-11	8	29	36	2	-12	6	-3	-5	-7	-6	35	-17	-1	-7	1	8	-2	30	-9	-8	16	18	20	12	95.17	0	44	181	22.58	43.54
3.2	64	IDLE	1,044	562	715	1,080	227	1	1	1	1	1	0	-29.4	-22.1	0	0	0	5,145	5,094	5,184	5,552	-52	16	-8	-29	-2	13	-9	-8	-6	-2	6	-2	-1	11	25	-7	17	2	14	-12	-10	-4	-3	4	10	-20	0	9	-11	27	20	-8	-7	18	24	-1	18	20	12	95.17	0	44	181	22.58	43.54
3.25	65	IDLE	1,043	562	719	1,088	227	1	1	1	1	1	0	-29.4	-21.8	0	0	0	4,858	4,813	4,704	5,571	-12	-11	-32	5	52	27	-9	-7	1	8	-5	5	0	-27	-26	-12	3	-8	-7	-11	4	-8	0	3	8	7	-13	-2	-8	17	16	-11	-6	32	14	18	18	20	12	95.17	0	44	181	22.58	43.54
3.35	66	IDLE	1,044	562	715	1,097	236	1	1	1	1	1	0	-29.2	-22.3	0	0	0	4,794	4,909	4,583	5,622	-36	-8	-17	-19	30	28	-4	-3	1	-1	-9	-5	4	22	-39	37	-1	26	7	-12	-9	1	-6	-4	-6	13	-3	14	2	-2	-6	-20	52	-12	17	33	18	20	12	86.7	375	44	181	22.58	43.54
3.4	67	IDLE	673	562	714	1,272	236	1	1	1	1	1	0	-29.6	-22.7	0	0	0	4,807	4,768	5,062	5,622	-35	-5	-37	-12	-4	23	-1	5	-5	0	-7	4	2	-25	-10	-3	-12	3	-2	-6	17	-10	-12	8	8	7	-6	7	5	-10	-9	-22	-2	-23	-9	-18	18	20	12	86.7	375	44	181	22.58	43.54
3.45	68	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-30.2	-22.8	0	0	0	4,570	4,596	4,954	5,648	-14	7	-28	52	-5	5	11	-1	-2	12	-8	5	-11	-1	-47	-4	6	-13	4	-5	0	-5	-3	-12	5	12	-7	0	13	15	-1	-20	24	-37	-28	22	18	20	12	86.7	375	44	181	22.58	43.54
3.5	69	IDLE	1,043	570	715	1,088	227	1	1	1	1	1	0	-30.8	-22	0	0	0	4,819	4,966	5,030	5,641	6	21	-15	47	-7	3	-9	-1	-24	10	-5	-5	-26	11	-57	39	22	25	-2	-12	1	-6	2	7	-3	14	-9	26	-8	-7	19	-3	-8	-4	37	13	18	20	12	86.7	375	44	181	22.58	43.54
3.55	70	IDLE	1,044	562	715	1,079	236	1	1	1	1	1	0	-31.7	-21.8	0	0	0	4,647	4,819	4,890	5,590	-11	2	-45	-19	-5	37	-5	-3	1	-3	-10	2	-24	8	-20	-27	20	23	3	1	2	-3	5	10	-11	4	-10	0	18	4	6	20	-35	5	2	21	18	20	12	86.73	156	44	181	22.58	43.54
3.6	71	IDLE	1,044	562	715	1,084	227	1	1	1	1	1	0	-31.9	-22.3	0	0	0	4,883	4,902	4,858	5,590	-33	-1	-31	-1	10	57	-9	8	5	0	-6	8	-24	-5	-21	-24	16	15	-3	5	0	6	3	6	-14	16	-12	-1	-8	25	11	-23	-11	21	16	21	18	20	12	86.73	156	44	181	22.58	43.54
3.65	72	IDLE	1,043	562	715	1,088	227	1	1	1	1	1	0	-31.8	-22.3	0	0	0	5,152	5,209	5,229	5,539	-24	10	-26	-13	46	-4	-7	2	-5	-3	4	3	-3	4	-16	21	47	-8	5	-1	2	-13	5	-1	-7	1	-12	-9	0	-6	17	0	-21	-20	31	9	18	20	12	86.73	156	44	181	22.58	43.54
3.7	73	IDLE	1,044	562	714	1,276	227	1	1	1	1	1	0	-31.6	-22.2	0	0	0	5,152	5,203	5,484	5,545	-18	15	-24	13	50	7	-13	5	5	11	1	4	14	-4	-20	5	13	6	-5	-6	-3	-1	0	8	-2	2	-3	2	-9	10	13	1	8	4	16	5	1	19	27	86.73	156	44	181	22.58	43.54
3.75	74	IDLE	1,044	562	714	1,276	227	1	1	1	1	1	0	-32.2	-21.6	0	0	0	5,171	5,267	5,376	5,507	12	0	-57	6	29	37	-5	3	2	-7	11	3	1	12	-16	-21	10	42	-7	10	1	0	0	-10	-19	0	-10	11	-8	-14	-4	-10	2	-12	34	12	1	19	27	87.17	296	44	181	22.58	43.54
3.8	75	IDLE	1,044	562	715	1,293	227	1	1	1	1	1	0	-32.8	-20.9	0	0	0	5,286	4,934	5,113	5,590	12	0	-57	6	29	37	-5	3	2	-7	11	3	10	30	-46	15	48	-4	-7	-13	0	-4	1	-2	3	9	7	5	1	18	1	30	-26	18	-11	1	1	19	27	87.17	296	44	181	22.58	43.54
3.85	76	IDLE	1,043	562	715	1,092	227	1	1	1	1	1	0	-33.4	-20.3	0	0	0	4,934	5,133	4,922	5,603	12	0	-57	6	29	37	-5	3	2	-7	11	3	10	30	-46	15	48	-4	-7	-13	0	-4	1	-2	1	-6	-16	8	-20	8	27	-23	-30	-5	13	2	1	19	27	87.17	296	44	181	22.58	43.54
3.9	77	IDLE	1,044	562	719	1,276	227	1	1	1	1	1	0	-33.9	-19.7	0	0	0	5,408	5,369	5,261	5,539	12	0	-57	6	29	37	-5	3	2	-7	11	3	10	30	-46	15	48	-4	-7	-13	0	-4	1	-2	1	-6	-16	8	-20	8	27	-23	-30	-5	13	2	1	19	27	87.17	296	44	181	22.58	43.54
3.95	78	IDLE	1,044	562	715	1,280	227	1	1	1	1	1	0	-34.1	-20.1	0	0	0	5,414	4,960	5,222	5,539	-20	6	-19	16	8	25	-6	-3	3	8	-2	-4	26	45	-73	22	-6	5	-8	-3	1	-3	-2	-2	1	-6	-16	8	-20	8	27	-23	-30	-5	13	2	1	19	27	83.63	312	44	181	22.58	43.54
4	79	IDLE	1,043	562	715	1,092	227	1	1	1	1	1	0	-34.3	-20.3	0	0	0	5,305	5,081	5,344	5,507	-17	15	-24	7	18	14	4	0	4	6	0	-4	-4	-12	-47	35	41	19	-6	4	-2	1	-1	15	1	-6	-16	8	-20	8	27	-23	-30	-5	13	2	1	19	27	83.63	312	44	181	22.58	43.54
4.05	80	IDLE	1,044	562	719	1,289	227	1	1	1	1	1	0	-34.3	-20.5	0	0	0	4,954	4,877	4,973	5,616	-22	5	-26	-3	31	-13	-20	-1	-10	9	-9	6	27	10	-62	-15	-12	34	-1	-2	-10	-6	1	-5	-9	0	19	0	1	-5	-9	13	5	-3	-14	19	1	19	27	83.63	312	44	181	22.58	43.54
4.1	81	IDLE	1,043	562	719	1,092	227	1	1	1	1	1	0	-34.1	-20.9	0	0	0	4,858	5,222	5,133	5,507	-26	-3	-15	4	24	14	0	-12	-3	2	-9	-8	7	-43	-37	-45	6	-22	6	-1	-5	-5	17	0	-7	-1	-9	-13	28	-9	-9	10	-32	23	1	-3	1	19	27	83.63	312	44	181	22.58	43.54
4.15	82	IDLE	1,043	562	719	1,272	227	1	1	1	1	1	0	-33.3	-20.6	0	0	0	5,139	5,369	5,126	5,558	-1	-4	1	-20	23	30	-4	11	-8	2	-2	7	-22	-13	-8	-23	3	42	13	-8	-6	5	6	6	3	4	1	2	-2	25	24	17	-13	-29	18	8	1	19	27	88.06	93	44	181	22.58	43.54
4.2	83	MANUAL	1,043	562	719	1,272	227	1	1	1	1	1	0	-33.5	-21.1	1	255	255	5,139	5,382	5,177	5,507	-8	0	-7	-7	-2	7	-4	4	-9	-2	3	6	-6	-53	9	-44	-23	22	-2	-2	-4	-11	-9	-1	-4	13	8	13	2	-7	7	0	-37	16	16	4	1	19	27	88.06	93	44	181	22.58	43.54
4.25	84	MANUAL	1,048	562	715	1,093	227	1	1	1	1	1	-0.1	-33.3	-20.2	3	255	255	3,892	4,161	3,496	5,897	117	-178	-102	104	215	39	-135	44	-44	-34	-54	-35	15	151	-249	-32	112	191	-48	-65	36	77	-25	-14	-91	0	-200	25	-165	-112	278	-111	-159	-117	171	214	1	19	27	88.06	93	44	181	22.58	43.54
4.3	85	MANUAL	1,044	566	719	1,080	224	1	1	1	1	1	-0.1	-33.1	-20.8	5	255	255	3,898	3,719	3,067	6,038	-440	-421	-196	51	323	357	-167	45	-28	-60	15	167	-452	182	67	-351	556	473	-157	14	48	-85	184	-135	-107	258	73	-222	400	-231	760	-128	-316	275	-115	852	1	19	27	88.06	93	44	181	22.58	43.54
4.35	86	MANUAL	1,043	566	715	1,089	224	1	1	1	1	1	0	-32.3	-19.7	7	255	255	3,624	3,413	2,843	5,961	352	-756	23	508	725	363	244	87	262	-237	-250	-250	37	269	-229	-520	784	406	175	-339	139	250	58	154	-129	134	89	-188	-156	-278	1,428	-408	-1,739	1,055	-357	762	1	19	27	89.75	2,046	44	181	22.58	43.54
4.4	87	MANUAL	1,041	563	714	1,095	223	1	1	1	1	1	0	-31.7	-18.5	9	255	255	3,304	3,342	2,492	6,044	377	-14	-62	955	444	87	117	63	207	-97	-320	-327	-37	187	-187	-411	143	17	396	-251	76	220	-403	159	-218	-803	218	-221	-973	-139	508	96	-2,244	1,749	-100	-19	1	19	27	89.75	2,046	44	181	22.58	43.54
4.45	88	MANUAL	1,037	567	719	1,093	223	1	1	1	1	1	0.1	-31.4	-18.6	11	255	255	3,694	3,368	2,140	6,191	-353	316	-267	-274	-580	-106	347	-221	120	-79	-23	-278	-342	-408	277	164	-406	-327	402	-226	-94	-35	-430	294	93	-1,109	295	-274	-1,350	266	-1,054	248	746	-703	-106	-477	1	19	27	89.75	2,046	44	181	22.58	43.54
4.5	89	MANUAL	1,035	567	714	683	227	1	1	1	1	1	0	-31.6	-18	13	255	255	3,930	4,090	3,093	5,935	140	153	-380	-499	-414	-278	-42	-93	-174	257	246	264	300	-264	269	72	-248	-170	-160	181	-141	-69	-63	-78	39	-175	51	137	-387	-36	-892	851	1,579	-2,235	402	-54	1	19	27	89.75	2,046	44	181	22.58	43.54
4.55	90	MANUAL	1,034	568	715	1,255	227	1	1	1	1	1	0	-32.2	-17.9	15	255	255	3,950	3,847	3,029	6,038	-33	509	-503	-147	-331	-774	-397	200	-331	-94	97	389	-663	-134	223	641	207	-281	-354	65	108	-83	50	-406	191	1,237	-922	497	1,277	121	-134	-466	1,523	-1,297	624	-118	1	19	27	92.92	1,078	44	181	22.58	43.54
4.6	91	MANUAL	1,033	569	719	962	223	1	1	1	1	1	0	-32.8	-17	17	255	255	3,867	4,384	3,387	5,916	302	-471	-639	385	410	522	-533	29	134	-211	188	472	-223	385	-566	-435	281	364	-434	112	368	-422	773	-416	351	1,338	707	-146	1,591	609	316	-5	-99	908	-233	248	1	19	27	92.92	1,078	44	181	22.58	43.54
4.65	92	MANUAL	1,031	569	719	168	224	1	1	1	1	1	0	-32.5	-16.4	19	255	255	4,455	4,634	3,604	5,910	45	639	-68	555	271	93	-221	-171	225	-193	99	206	164	-242	1,223	504	314	-1,004	-116	-260	209	-68	422	179	17	159	769	-252	684	462	1,210	426	-680	2,381	-517	998	1	19	27	92.92	1,078	44	181	22.58	43.54
4.7	93	MANUAL	1,027	569	715	1,278	224	1	1	1	1	1	0.1	-32.2	-14.7	21	255	255	4,928	5,037	4,058	5,808	1,224	-244	-478	168	440	-491	197	-112	303	-79	-105	-439	13	-92	-379	120	-38	731	607	-217	-245	157	-226	301	-550	-1,297	4	-36	-799	-531	10	28	-649	1,386	-454	66	7	20	12	92.92	1,078	44	181	22.58	43.54
4.761	94	MANUAL	1,023	809	715	1,413	236	1	1	1	1	1	0.2	-32.1	-15.3	23	255	255	4,154	4,263	3,227	5,929	-314	-64	-228	110	165	332	392	-103	224	-259	-169	-654	-111	-23	-42	-86	-200	-296	590	-266	-96	5	-363	272	54	-309	747	-132	-491	171	-1,510	1,209	1,766	-2,074	566	-1,003	7	20	12	90.96	1,812	44	181	22.58	43.54
4.8	95	MANUAL	1,023	809	715	1,413	236	1	1	1	1	1	0.3	-31.9	-15.9	24	255	255	4,154	4,263	3,227	5,929	-314	-64	-228	110	165	332	392	-103	224	-259	-169	-654	-111	-23	-42	-86	-200	-296	590	-266	-96	5	-363	272	54	-309	747	-132	-491	171	-1,510	1,209	1,766	-2,074	566	-1,003	7	20	12	90.96	1,812	44	181	22.58	43.54
4.85	96	MANUAL	1,020	808	719	1,178	227	1	1	1	1	1	0.4	-31.8	-16.5	26	255	255	4,301	4,704	3,796	5,808	-314	-64	-228	110	165	332	392	-103	224	-259	-169	-654	-111	-23	-42	-86	-200	-296	590	-266	-96	5	-363	272	133	758	-309	91	378	-107	-1,183	558	2,004	-2,674	1,409	-431	7	20	12	90.96	1,812	44	181	22.58	43.54
4.9	97	MANUAL	1,021	808	724	1,187	214	1	1	1	1	1	0.5	-31.7	-17	28	255	255	4,250	4,103	3,176	5,999	-314	-64	-228	110	165	332	392	-103	224	-259	-169	-654	-111	-23	-42	-86	-200	-296	590	-266	-96	5	-363	272	-324	1,206	-269	357	1,284	-492	-493	124	1,849	-1,915	651	385	7	20	12	90.96	1,812	44	181	22.58	43.54
4.95	98	MANUAL	1,019	808	724	1,185	223	1	1	1	1	1	0.6	-30.8	-18.1	30	255	255	4,167	4,218	3,368	5,846	-597	844	162	-206	-1	94	-215	-284	204	-77	346	314	-611	-143	481	687	194	-986	-256	-18	358	-373	515	91	-324	1,206	-269	357	1,284	-492	-493	124	1,849	-1,915	651	385	7	20	12	92.8	1,562	44	181	22.58	43.54
5.05	99	MANUAL	1,014	809	724	1,185	223	1	1	1	1	1	0.6	-30.3	-17.9	32	255	255	4,570	4,391	3,649	5,795	-205	-677	-193	463	863	111	419	-128	89	-33	-67	-527	-384	493	-321	-590	943	598	506	-247	-219	224	-399	386	-245	-1,176	515	-336	-1,397	-87	223	-341	1,949	-1,156	-1,826	1,332	7	20	12	92.8	1,562	44	181	22.58	43.54

End of preview. Expand in Data Studio

Real-Robot Driving Sessions: the 18 minutes that trained our 101-parameter driver

Three real driving sessions of our tracked test robot, recorded at 20 Hz on the test floor.

These are the exact sessions that trained NCDTech/real-robot-driving-mlp-numpy, the weight file shown running in this video.

We can prove the lineage.

Our desktop studio logs every training run, and the entry for that weight file reads:

2026-04-24 16:14:25 | build_dataset 시작: 3 파일 —
  session_20260417_165126.bin, session_20260417_154754.bin, session_20260421_142743.bin

Those three files are this dataset.

What one session looks like

Files

session	samples	duration	driving mode mix
`session_20260417_154754`	7,088	372.7 s	AUTO 16 % · MANUAL 53 %
`session_20260417_165126`	6,080	320.5 s	AUTO 47 % · MANUAL 27 %
`session_20260421_142743`	3,760	383.2 s	MANUAL 75 %
total	16,928	~18 min

Each session ships in two forms.

.csv is the accessible form: 71 columns, one row per 50 ms sample.

.bin is the untouched original written by the robot's recorder (parsed with zero dropped chunks and zero truncated bytes).

Columns (CSV)

group	columns
meta	`t_s` (seconds from session start), `sequence`, `ctrl_source` (`IDLE` / `AUTO` / `MANUAL`)
ultrasonic	`ultra_{front,left,right,back,grip}_mm` + per-channel `_valid` flags
pose	`heading_deg`, `pitch_deg`, `roll_deg`, `pos_x_mm`, `pos_y_mm` (dead-reckoning)
motors	`motor_{left,right,arm,grip}_pwm` (-255..255), `current_{left,right,arm,grip}_ma`
IMU	`imu0..imu5` × `ax, ay, az, gx, gy, gz` (36 raw int16 channels, 3 MCUs × 2 IMUs)
camera	`cam_fps`, `cam_wifi_rssi`, `cam_jpeg_kb`
audio	`audio_level_db`, `audio_peak_freq_hz`
environment	`env_lux_0..2`, `env_co2_ppm`, `env_temp_c`, `env_humidity_rh`

The model used only six features from all of this: front/left/right distances plus their frame-to-frame deltas.

Everything else is here because the robot logged it anyway, and multimodal robot telemetry is rare at this size.

Load it

import pandas as pd

df = pd.read_csv("session_20260417_165126.csv")
auto = df[df.ctrl_source == "AUTO"]
print(len(df), "samples,", len(auto), "in AUTO mode")

Honest notes

Total driving time is about 18 minutes.

That is genuinely small, and it shows in the model: STOP and BACK actions barely occur in these sessions, so the trained network scored 0 % on those classes.

We publish the data anyway, because this is what real early-stage robot data looks like, and because exactly this gap is why our current systems run a class-distribution check inside self QA/QC on every stage.

You can watch that self QA/QC system working, and chatting about its own reports through an on-premise LLM, in our 22-minute demo video.

pos_x_mm / pos_y_mm are dead-reckoning estimates and drift over time.

IMU channels are raw int16 readings, unscaled.

ultra_front_mm comes from the hand-mounted sensor: on this robot the front ultrasonic rides on the hand (per our 2026-03-31 sensor mapping sheet), and ultra_grip_mm is a spare channel.