percep : 0.197343 0.116691 
odom : 1.719368 0.481953
percep : -1.525463 -0.415648 1.334917 0.153515 
odom : 2.542249 0.504055
percep : 0.396366 0.744896 1.026433 1.560395 -0.458501 1.015613 -1.186593 -0.359268 
odom : 2.095067 -0.122511
percep : -1.672720 0.761346 -1.037714 1.526822 
odom : 1.255967 0.499692
percep : 1.400530 0.139659 0.832539 -0.023772 -0.473159 1.466128 
odom : 0.890110 1.571886
percep : 1.049426 -0.951973 0.462879 -1.388117 0.883837 0.562086 0.707733 0.007060 -0.060819 -1.505159 -1.398179 -0.056144 
odom : 0.056125 0.947840
percep : 0.834853 -0.392591 0.652479 -0.944261 0.385259 1.510179 -1.461003 -0.981682 
odom : -0.739513 0.801580
percep : -1.636941 0.310927 -0.361487 1.741209 1.150077 0.655925 -1.708018 -0.253187 -0.671557 -1.806937 
odom : -0.991751 -0.009698
percep : -0.707420 -1.610833 -0.587264 0.326088 0.609101 1.831506 -0.694476 -0.177444 0.353110 -1.785412 
odom : -1.104753 -0.532144
percep : 0.401098 -1.057988 -1.128222 -0.338696 0.492513 0.844223 -1.550743 -0.661050 0.351575 0.334172 -0.465157 -1.619502 1.428350 -1.293427 -1.364864 0.559460 
odom : -1.247042 -0.803793
percep : 1.582043 -0.216145 0.077918 0.548965 -0.381106 0.182863 -0.971192 -0.160328 1.552267 1.254354 0.211205 -1.519240 0.752195 -0.688204 -0.705330 -1.229280 -0.158236 1.473403 
odom : -0.836578 -0.636396
percep : 0.931686 1.161241 0.493524 0.783550 -0.071985 0.450949 1.043205 -0.939961 1.617120 -0.148390 0.186177 -0.642688 
odom : -1.037897 0.238069
percep : 1.530375 0.557577 0.957117 0.237681 -1.150971 0.817256 1.210521 -0.893242 
odom : -0.851230 0.925350
percep : 1.882265 -0.659268 -0.306185 -0.057832 0.304521 1.728628 
odom : -0.436416 1.610337
percep : -0.707695 1.842623 -1.162528 0.252746 0.140314 -1.760669 0.712695 0.020688 0.693431 0.780925 
odom : 0.399858 1.126638
percep : 0.070668 1.619363 -1.063531 0.696089 -1.557871 -0.893349 0.323989 -1.087235 0.315201 -0.353271 
odom : 0.728057 0.556268
percep : -0.630183 1.084413 1.680515 -0.482641 -1.786230 0.181515 -0.374456 -1.625823 -0.411774 -0.867881 -0.317172 1.692914 
odom : 0.964160 -0.147636
percep : 1.088530 -0.996406 -1.580262 1.199389 0.730253 -0.329184 -1.324906 -1.428861 -1.306087 -0.765041 1.686550 -0.325821 
odom : 1.057141 0.039786
percep : 0.011185 -1.034365 -0.350218 -0.359527 0.624615 -0.350705 
odom : 0.707323 -0.717272
percep : -0.668394 -0.322579 1.064106 -1.243074 -1.063911 0.345680 1.631145 1.131680 -0.094126 0.370240 -0.797150 -1.588156 
odom : 1.042620 -0.314807
percep : 1.489302 1.014043 -1.701094 -0.052992 -0.016329 -0.984851 1.214162 0.502923 -0.116884 -1.530620 0.588211 1.442218 -1.116318 0.684848 
odom : 1.077954 0.026727
percep : 0.385570 0.976831 -1.066426 -1.076149 0.148952 0.434980 1.704634 -0.670368 -1.145510 -1.550541 -0.514561 1.362703 
odom : 1.164895 0.598603
percep : -0.741060 0.345694 0.851042 1.522381 -0.977679 -0.197360 0.575288 -1.340337 -1.660978 0.709787 
odom : 0.142874 1.269442
percep : -0.916904 -0.904281 -0.611130 1.094849 0.671893 0.346132 -1.183010 -1.419835 0.785186 0.929658 -1.862628 -0.521103 
odom : -0.697154 0.642407
percep : -0.277849 -1.547267 0.030301 0.464113 1.313782 -0.299722 -0.442173 1.051867 1.407981 0.284378 -1.169834 -1.153222 -1.076539 0.441159 
odom : -1.287468 0.133672
percep : 0.977674 -1.699283 1.280649 0.321030 0.843619 0.912524 0.084353 -1.321743 0.187416 0.268843 
odom : -1.596483 -0.325274
percep : -0.897697 1.459757 1.595373 -0.926122 1.734890 0.664462 -0.077832 -1.669928 
odom : -0.533414 -0.446310
percep : -0.095137 -1.947277 -0.523839 -1.247199 -0.365592 1.953458 0.451815 -1.240054 
odom : -0.887763 0.053650
percep : -1.971754 0.250866 0.359605 -1.289572 0.509027 1.893746 -1.740753 0.857175 1.336019 -1.251043 
odom : -0.855217 0.428198
percep : -1.127789 -0.114348 1.315757 1.452029 -0.867674 0.422806 -0.951701 1.551259 
odom : -0.786041 0.817056
percep : -0.371824 -0.939219 -0.132549 -0.342690 -0.272913 0.793168