Numbers of maps correspond to the numbers on the pictures. Maps with first numbers 4 through 6 had four runs each, signified by a number. I did runs 1 and 2 with the sensors on the right side of the robot towards the wall (counterclockwise). Runs 3 and 4 were clockwise. 1 and 3 were about 6" from the wall. Runs 2 and 4 were about 1" away. For map 7 in map7-out.jpg I tried to stay away from the wall, so I didn't go into the corners. In map7-in.jpg, I penetrated the corners until I was only one or two inches away.