percep : 2.610054 3.587491 1.731687 7.627319 5.969606 8.740084 8.536369 4.046501 4.918375 5.744246 
odom : 0.242237 2.635034
percep : 2.059525 1.537290 1.102366 5.364240 5.407859 6.277271 7.850414 1.886459 4.320856 3.534482 
odom : 0.512546 2.822456
percep : 1.397940 -1.399142 0.491180 2.388502 4.589120 3.410499 7.197695 -1.019324 3.668032 0.524368 
odom : 1.155917 1.797266
percep : -0.042466 -2.965487 -0.977701 0.817747 2.995906 1.842215 5.580418 -2.713839 2.127717 -1.014407 
odom : 2.034563 1.747939
percep : -1.851339 -4.312953 -2.854073 -0.373181 1.204917 0.620688 3.658011 -3.782127 0.299279 -2.199030 
odom : 2.578994 -0.387142
percep : -4.258441 -3.500941 -5.037579 0.185797 -1.022780 1.321217 1.515384 -3.171396 -1.956960 -1.577238 
odom : 1.080104 -2.072081
percep : -4.946845 -1.663127 -5.927698 2.214478 -1.821731 3.243805 0.680112 -1.169862 -2.854625 0.409114 
odom : -0.082472 -1.756247
percep : -5.016619 0.165469 -5.778311 4.185191 -1.787476 5.173059 0.699442 0.658091 -2.851715 2.244839 
odom : -2.020797 -2.621061
percep : -3.048984 2.208825 -3.880646 6.072530 0.352136 7.110090 2.732159 2.656635 -0.716559 4.138168 
odom : -1.333410 0.913245
percep : -1.348954 1.673393 -2.141571 5.588525 1.888763 6.411096 4.359589 2.104203 0.812365 3.747290 
odom : -1.539332 0.450349
percep : 0.537244 1.204631 -0.274851 5.126807 3.666850 6.095373 6.390031 1.682618 2.688820 3.156170