diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index a6c0a65..bc951fe 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -125,7 +125,7 @@ void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) {
 
       InterestingThing *thing = roboid->perception->AddTrackedObject(
           this, networkId, objectId, position);
-      if (thing->type == 0xFF) {
+      if (thing->networkId != 0x00 && thing->type == 0xFF) {
         // Unknown thing
         roboid->networkSync->SendInvestigateThing(thing);
       }
diff --git a/Perception.cpp b/Perception.cpp
index e3751d6..0f3bff6 100644
--- a/Perception.cpp
+++ b/Perception.cpp
@@ -249,9 +249,9 @@ void Perception::AddTrackedObject(Sensor *sensor, Polar position,
     // Serial.print((int)obj->id);
     // Serial.println(": replaced tracked object");
     printf("%d: replaced tracked object [/%d]\n", farthestObjIx, obj->id);
+#endif
     roboid->networkSync->NewObject(obj);
     ((WifiSync *)roboid->networkSync)->PublishTrackedObject(roboid, obj);
-#endif
   } else {
 #ifdef RC_DEBUG2
     // Serial.print((int)obj->id);
@@ -518,20 +518,20 @@ void Perception::UpdatePose(Polar translation) {
     // We only support translations in the horizontal plane at this moment...
     // This needs Spherical operator- to be implemented to work in 3d space
     if (thing->type == 0x80) { // plane
-      printf("[1/%d] %f (%f %f) ", thing->id, thing->position.distance,
-             (float)thing->position.horizontalAngle,
-             (float)thing->position.verticalAngle);
+      // printf("[1/%d] %f (%f %f) ", thing->id, thing->position.distance,
+      //        (float)thing->position.horizontalAngle,
+      //        (float)thing->position.verticalAngle);
       // Update the closest point to the plane
       float angle = (float)thing->position.horizontalAngle + translation.angle;
       angle = abs(angle);
 
       float deltaDistance = translation.distance * cosf(angle * Angle::Deg2Rad);
-      printf(" | translate %f %f %f | ", (float)translation.distance,
-             (float)angle, deltaDistance);
+      // printf(" | translate %f %f %f | ", (float)translation.distance,
+      //        (float)angle, deltaDistance);
       thing->position.distance -= deltaDistance;
-      printf("-> %f (%f %f)\n", thing->position.distance,
-             (float)thing->position.horizontalAngle,
-             (float)thing->position.verticalAngle);
+      // printf("-> %f (%f %f)\n", thing->position.distance,
+      //        (float)thing->position.horizontalAngle,
+      //        (float)thing->position.verticalAngle);
     } else {
       Polar horizontalPosition =
           Polar(thing->position); // obj->position.ProjectOnHorizontalPlane();
@@ -555,16 +555,16 @@ void Perception::UpdatePose(Quaternion rotation) {
     if (thing == nullptr)
       continue;
 
-    printf("[1/%d] %f (%f %f) ", thing->id, thing->position.distance,
-           (float)thing->position.horizontalAngle,
-           (float)thing->position.verticalAngle);
-    printf("| rotate %f  | ", rotationAngle);
+    // printf("[1/%d] %f (%f %f) ", thing->id, thing->position.distance,
+    //        (float)thing->position.horizontalAngle,
+    //        (float)thing->position.verticalAngle);
+    // printf("| rotate %f  | ", rotationAngle);
     float updatedAngle =
         Angle::Normalize(thing->position.horizontalAngle - rotationAngle);
     thing->position.horizontalAngle = updatedAngle;
 
-    printf("-> %f (%f %f) \n", thing->position.distance,
-           (float)thing->position.horizontalAngle,
-           (float)thing->position.verticalAngle);
+    // printf("-> %f (%f %f) \n", thing->position.distance,
+    //        (float)thing->position.horizontalAngle,
+    //        (float)thing->position.verticalAngle);
   }
 }
\ No newline at end of file