![robot](./robot.png)

* The robot has front-wheel steering, meaning only the front wheels turn to control the direction.
    * θ (theta): Controls the steering angle, determining how much the wheels turn left or right.
    * ω (omega): Controls the drive velocity, which is the speed at which the robot moves.
* data.mcap: Contains multiple types of data logs. This file follows the MCAP format, commonly used for recording sensor data in robotics applications. It includes:
    * Drive Command: Commanded values for θ (steering) and ω (velocity).
    * Drive Feedback: Actual values received from sensors, indicating the robot’s real behavior compared to the command.
    * Stereo Camera Data: Captured images from a stereo camera, which provides 3D perception and depth information.
    * IMU Data: Inertial Measurement Unit readings (accelerometer & gyroscope) for motion and orientation tracking.
    * Ground Truth Pose: The true position and orientation of the robot in the environment, used for performance evaluation.
* data.toml: It specifies physical properties of the robot, such as wheelbase, track width etc.