Repository: NextCenturyCorporation/MCS (language: python)

Issue:
MCS-1558 Updated integration tests due to corresponding bug fix.
Unity PR: https://github.com/NextCenturyCorporation/ai2thor/pull/291

The area considered "on top" of the cog is now a bit wider, so I had to make a few minor changes:
- Updated integration test 152 to move the agent off of the cog
- Updated integration test 167 to Pass two more times at the start, since now it takes two fewer Move actions to get up on top of the cog


Discussion / hints:

Fix patch:
diff --git a/machine_common_sense/action.py b/machine_common_sense/action.py
index 1c5a46338..017f51570 100644
--- a/machine_common_sense/action.py
+++ b/machine_common_sense/action.py
@@ -283,7 +283,9 @@ class Action(Enum):
     )
     """
     Pull a nearby object by applying a physical force directly toward you on
-    the X/Z axis to the center point of the object.
+    the X/Z axis to the center point of the object (note that this means it
+    does not matter where you Pull on the object, since the force is always
+    applied to the center point).
 
     Parameters
     ----------
@@ -330,7 +332,9 @@ class Action(Enum):
     )
     """
     Push a nearby object by applying a physical force directly away from you on
-    the X/Z axis to the center point of the object.
+    the X/Z axis to the center point of the object (note that this means it
+    does not matter where you Push on the object, since the force is always
+    applied to the center point).
 
     Parameters
     ----------
@@ -485,7 +489,9 @@ class Action(Enum):
         "objectImageCoordsY=float)"
     )
     """
-    Apply a rotation of 5 degrees to a nearby object.
+    Apply a rotation of 5 degrees to a nearby object. Will fail if rotating
+    the object would cause it to collide with another object or the performer
+    agent, returning OBSTRUCTED.
 
     Parameters
     ----------
@@ -538,7 +544,14 @@ class Action(Enum):
         "objectImageCoordsY=float)"
     )
     """
-    Apply a movement of 0.1 meters units to a nearby object.
+    Apply a movement of 0.1 meters units to a nearby object. If the object
+    would come into contact with another object, and the other object is small
+    and moveable, the other object will also move 0.1 meters in the same
+    direction. This movement does not attempt to simulate realistic physics
+    in regard to collisions with other object(s). If you wish to simulate
+    realistic physical movement, please use the PullObject and PushObject
+    actions instead, which apply a force using the environment's physics
+    simulation engine.
 
     Parameters
     ----------


Test patch:
diff --git a/integration_tests/data/104.move_stacking_objects.actions.level1.outputs.json b/integration_tests/data/104.move_stacking_objects.actions.level1.outputs.json
index 127b86b9d..3806166e5 100644
--- a/integration_tests/data/104.move_stacking_objects.actions.level1.outputs.json
+++ b/integration_tests/data/104.move_stacking_objects.actions.level1.outputs.json
@@ -158,7 +158,7 @@
         "objects_count": 0,
         "position_x": null,
         "position_z": null,
-        "return_status": "SUCCESSFUL",
+        "return_status": "OBSTRUCTED",
         "reward": -0.008,
         "rotation_y": null,
         "step_number": 14,
diff --git a/integration_tests/data/104.move_stacking_objects.actions.level2.outputs.json b/integration_tests/data/104.move_stacking_objects.actions.level2.outputs.json
index 127b86b9d..3806166e5 100644
--- a/integration_tests/data/104.move_stacking_objects.actions.level2.outputs.json
+++ b/integration_tests/data/104.move_stacking_objects.actions.level2.outputs.json
@@ -158,7 +158,7 @@
         "objects_count": 0,
         "position_x": null,
         "position_z": null,
-        "return_status": "SUCCESSFUL",
+        "return_status": "OBSTRUCTED",
         "reward": -0.008,
         "rotation_y": null,
         "step_number": 14,
diff --git a/integration_tests/data/104.move_stacking_objects.actions.oracle.outputs.json b/integration_tests/data/104.move_stacking_objects.actions.oracle.outputs.json
index 86bc0467e..7eccceadb 100644
--- a/integration_tests/data/104.move_stacking_objects.actions.oracle.outputs.json
+++ b/integration_tests/data/104.move_stacking_objects.actions.oracle.outputs.json
@@ -549,9 +549,9 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.95,
+                "position_x": -1.92,
                 "position_y": 0.05,
-                "position_z": -0.19,
+                "position_z": -0.17,
                 "visible": true
             },
             {
@@ -565,17 +565,17 @@
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.95,
+                "position_x": -1.92,
                 "position_y": 0.15,
-                "position_z": -0.19,
+                "position_z": -0.17,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.95,
+                "position_x": -1.92,
                 "position_y": 0.25,
-                "position_z": -0.18,
+                "position_z": -0.16,
                 "visible": true
             },
             {
@@ -609,9 +609,9 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.85,
                 "position_y": 0.05,
-                "position_z": -0.28,
+                "position_z": -0.24,
                 "visible": true
             },
             {
@@ -625,17 +625,17 @@
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.85,
                 "position_y": 0.15,
-                "position_z": -0.28,
+                "position_z": -0.24,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.85,
                 "position_y": 0.25,
-                "position_z": -0.26,
+                "position_z": -0.23,
                 "visible": true
             },
             {
@@ -669,9 +669,9 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.77,
                 "position_y": 0.05,
-                "position_z": -0.28,
+                "position_z": -0.3,
                 "visible": true
             },
             {
@@ -685,17 +685,17 @@
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.77,
                 "position_y": 0.15,
-                "position_z": -0.28,
+                "position_z": -0.3,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.77,
                 "position_y": 0.25,
-                "position_z": -0.26,
+                "position_z": -0.29,
                 "visible": true
             },
             {
@@ -729,9 +729,9 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.69,
                 "position_y": 0.05,
-                "position_z": -0.28,
+                "position_z": -0.37,
                 "visible": true
             },
             {
@@ -745,18 +745,18 @@
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.69,
                 "position_y": 0.15,
-                "position_z": -0.28,
+                "position_z": -0.37,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.69,
                 "position_y": 0.25,
-                "position_z": -0.26,
-                "visible": true
+                "position_z": -0.36,
+                "visible": false
             },
             {
                 "id": "block_blank_e",
@@ -789,9 +789,9 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.69,
                 "position_y": 0.05,
-                "position_z": -0.28,
+                "position_z": -0.37,
                 "visible": true
             },
             {
@@ -805,17 +805,17 @@
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.69,
                 "position_y": 0.15,
-                "position_z": -0.28,
+                "position_z": -0.37,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.9,
+                "position_x": -1.69,
                 "position_y": 0.25,
-                "position_z": -0.26,
+                "position_z": -0.36,
                 "visible": true
             },
             {
@@ -849,41 +849,41 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.97,
+                "position_x": -1.69,
                 "position_y": 0.05,
-                "position_z": -0.35,
+                "position_z": -0.37,
                 "visible": true
             },
             {
                 "id": "block_blank_b",
                 "mass": 0.66,
-                "position_x": -1.76,
+                "position_x": -1.69,
                 "position_y": 0.05,
-                "position_z": -0.22,
+                "position_z": -0.15,
                 "visible": true
             },
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.97,
+                "position_x": -1.69,
                 "position_y": 0.15,
-                "position_z": -0.35,
+                "position_z": -0.37,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.97,
+                "position_x": -1.69,
                 "position_y": 0.25,
-                "position_z": -0.32,
+                "position_z": -0.36,
                 "visible": true
             },
             {
                 "id": "block_blank_e",
                 "mass": 0.66,
-                "position_x": -1.76,
+                "position_x": -1.69,
                 "position_y": 0.2,
-                "position_z": -0.23,
+                "position_z": -0.16,
                 "visible": true
             },
             {
@@ -897,7 +897,7 @@
         ],
         "objects_count": 6,
         "position_x": -2.37,
-        "return_status": "SUCCESSFUL",
+        "return_status": "OBSTRUCTED",
         "rotation_y": 130.0,
         "step_number": 14,
         "structural_objects_count": 5
@@ -909,41 +909,41 @@
             {
                 "id": "block_blank_a",
                 "mass": 0.66,
-                "position_x": -1.97,
+                "position_x": -1.69,
                 "position_y": 0.05,
-                "position_z": -0.35,
+                "position_z": -0.37,
                 "visible": true
             },
             {
                 "id": "block_blank_b",
                 "mass": 0.66,
-                "position_x": -1.76,
+                "position_x": -1.69,
                 "position_y": 0.05,
-                "position_z": -0.22,
+                "position_z": -0.15,
                 "visible": true
             },
             {
                 "id": "block_blank_c",
                 "mass": 0.66,
-                "position_x": -1.97,
+                "position_x": -1.69,
                 "position_y": 0.15,
-                "position_z": -0.35,
+                "position_z": -0.37,
                 "visible": true
             },
             {
                 "id": "block_blank_d",
                 "mass": 0.66,
-                "position_x": -1.97,
+                "position_x": -1.69,
                 "position_y": 0.25,
-                "position_z": -0.32,
+                "position_z": -0.35,
                 "visible": true
             },
             {
                 "id": "block_blank_e",
                 "mass": 0.66,
-                "position_x": -1.76,
+                "position_x": -1.69,
                 "position_y": 0.2,
-                "position_z": -0.23,
+                "position_z": -0.16,
                 "visible": true
             },
             {
diff --git a/integration_tests/data/152.rotating_cog_stacking_objects.oracle.outputs.json b/integration_tests/data/152.rotating_cog_stacking_objects.oracle.outputs.json
index fe79464ac..f5f39ea84 100644
--- a/integration_tests/data/152.rotating_cog_stacking_objects.oracle.outputs.json
+++ b/integration_tests/data/152.rotating_cog_stacking_objects.oracle.outputs.json
@@ -4,9 +4,9 @@
         "objects": [
             {
                 "direction_x": 0.09,
-                "direction_y": -0.65,
-                "direction_z": 0.75,
-                "distance": 1.06,
+                "direction_y": -0.57,
+                "direction_z": 0.82,
+                "distance": 1.22,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -25,9 +25,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -43,10 +43,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.16,
-                "direction_y": -0.54,
-                "direction_z": 0.82,
-                "distance": 1.27,
+                "direction_x": -0.14,
+                "direction_y": -0.48,
+                "direction_z": 0.87,
+                "distance": 1.44,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -64,10 +64,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.16,
-                "direction_y": -0.48,
-                "direction_z": 0.86,
-                "distance": 1.22,
+                "direction_x": -0.14,
+                "direction_y": -0.42,
+                "direction_z": 0.9,
+                "distance": 1.4,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -85,10 +85,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.17,
-                "direction_y": -0.41,
-                "direction_z": 0.89,
-                "distance": 1.17,
+                "direction_x": -0.15,
+                "direction_y": -0.36,
+                "direction_z": 0.92,
+                "distance": 1.36,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -106,10 +106,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.18,
-                "direction_y": -0.3,
-                "direction_z": 0.94,
-                "distance": 1.12,
+                "direction_x": -0.15,
+                "direction_y": -0.26,
+                "direction_z": 0.95,
+                "distance": 1.31,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -129,7 +129,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -142,9 +142,9 @@
         "objects": [
             {
                 "direction_x": 0.09,
-                "direction_y": -0.66,
-                "direction_z": 0.75,
-                "distance": 1.05,
+                "direction_y": -0.57,
+                "direction_z": 0.82,
+                "distance": 1.21,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -163,9 +163,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -181,10 +181,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.12,
-                "direction_y": -0.54,
-                "direction_z": 0.84,
-                "distance": 1.29,
+                "direction_x": -0.1,
+                "direction_y": -0.47,
+                "direction_z": 0.87,
+                "distance": 1.46,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -202,10 +202,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.12,
-                "direction_y": -0.48,
-                "direction_z": 0.87,
-                "distance": 1.24,
+                "direction_x": -0.11,
+                "direction_y": -0.42,
+                "direction_z": 0.9,
+                "distance": 1.42,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -223,10 +223,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.13,
-                "direction_y": -0.41,
-                "direction_z": 0.9,
-                "distance": 1.2,
+                "direction_x": -0.11,
+                "direction_y": -0.36,
+                "direction_z": 0.93,
+                "distance": 1.38,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -244,10 +244,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.13,
-                "direction_y": -0.3,
-                "direction_z": 0.94,
-                "distance": 1.14,
+                "direction_x": -0.12,
+                "direction_y": -0.26,
+                "direction_z": 0.96,
+                "distance": 1.34,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -267,7 +267,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -279,10 +279,10 @@
         "head_tilt": 30,
         "objects": [
             {
-                "direction_x": 0.09,
-                "direction_y": -0.67,
-                "direction_z": 0.74,
-                "distance": 1.04,
+                "direction_x": 0.08,
+                "direction_y": -0.58,
+                "direction_z": 0.81,
+                "distance": 1.19,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -301,9 +301,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -319,10 +319,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.08,
-                "direction_y": -0.52,
-                "direction_z": 0.84,
-                "distance": 1.31,
+                "direction_x": -0.07,
+                "direction_y": -0.47,
+                "direction_z": 0.88,
+                "distance": 1.48,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -341,9 +341,9 @@
             },
             {
                 "direction_x": -0.08,
-                "direction_y": -0.47,
-                "direction_z": 0.88,
-                "distance": 1.26,
+                "direction_y": -0.41,
+                "direction_z": 0.91,
+                "distance": 1.44,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -362,9 +362,9 @@
             },
             {
                 "direction_x": -0.08,
-                "direction_y": -0.41,
-                "direction_z": 0.91,
-                "distance": 1.21,
+                "direction_y": -0.35,
+                "direction_z": 0.93,
+                "distance": 1.4,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -382,10 +382,10 @@
                 "visible": true
             },
             {
-                "direction_x": -0.09,
-                "direction_y": -0.29,
-                "direction_z": 0.95,
-                "distance": 1.16,
+                "direction_x": -0.08,
+                "direction_y": -0.25,
+                "direction_z": 0.96,
+                "distance": 1.35,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -405,7 +405,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -418,9 +418,9 @@
         "objects": [
             {
                 "direction_x": 0.08,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.02,
+                "direction_y": -0.59,
+                "direction_z": 0.81,
+                "distance": 1.18,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -439,9 +439,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -458,9 +458,9 @@
             },
             {
                 "direction_x": -0.04,
-                "direction_y": -0.52,
-                "direction_z": 0.85,
-                "distance": 1.31,
+                "direction_y": -0.47,
+                "direction_z": 0.88,
+                "distance": 1.49,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -479,9 +479,9 @@
             },
             {
                 "direction_x": -0.04,
-                "direction_y": -0.47,
-                "direction_z": 0.88,
-                "distance": 1.27,
+                "direction_y": -0.41,
+                "direction_z": 0.91,
+                "distance": 1.45,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -500,9 +500,9 @@
             },
             {
                 "direction_x": -0.04,
-                "direction_y": -0.4,
-                "direction_z": 0.91,
-                "distance": 1.22,
+                "direction_y": -0.35,
+                "direction_z": 0.94,
+                "distance": 1.41,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -521,9 +521,9 @@
             },
             {
                 "direction_x": -0.04,
-                "direction_y": -0.29,
+                "direction_y": -0.25,
                 "direction_z": 0.96,
-                "distance": 1.17,
+                "distance": 1.36,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -543,7 +543,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -555,10 +555,10 @@
         "head_tilt": 30,
         "objects": [
             {
-                "direction_x": 0.08,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.01,
+                "direction_x": 0.07,
+                "direction_y": -0.59,
+                "direction_z": 0.8,
+                "distance": 1.17,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -577,9 +577,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -596,9 +596,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.52,
-                "direction_z": 0.86,
-                "distance": 1.32,
+                "direction_y": -0.46,
+                "direction_z": 0.89,
+                "distance": 1.49,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -617,9 +617,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.47,
-                "direction_z": 0.88,
-                "distance": 1.27,
+                "direction_y": -0.41,
+                "direction_z": 0.91,
+                "distance": 1.45,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -638,9 +638,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.4,
-                "direction_z": 0.92,
-                "distance": 1.22,
+                "direction_y": -0.35,
+                "direction_z": 0.94,
+                "distance": 1.41,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -659,9 +659,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.29,
+                "direction_y": -0.25,
                 "direction_z": 0.96,
-                "distance": 1.17,
+                "distance": 1.36,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -681,7 +681,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -694,9 +694,9 @@
         "objects": [
             {
                 "direction_x": 0.06,
-                "direction_y": -0.69,
-                "direction_z": 0.72,
-                "distance": 1.0,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.15,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -715,9 +715,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -734,9 +734,9 @@
             },
             {
                 "direction_x": 0.05,
-                "direction_y": -0.52,
-                "direction_z": 0.85,
-                "distance": 1.31,
+                "direction_y": -0.47,
+                "direction_z": 0.88,
+                "distance": 1.49,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -755,9 +755,9 @@
             },
             {
                 "direction_x": 0.05,
-                "direction_y": -0.47,
-                "direction_z": 0.88,
-                "distance": 1.26,
+                "direction_y": -0.41,
+                "direction_z": 0.91,
+                "distance": 1.44,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -776,9 +776,9 @@
             },
             {
                 "direction_x": 0.05,
-                "direction_y": -0.4,
-                "direction_z": 0.91,
-                "distance": 1.22,
+                "direction_y": -0.35,
+                "direction_z": 0.94,
+                "distance": 1.4,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -797,9 +797,9 @@
             },
             {
                 "direction_x": 0.05,
-                "direction_y": -0.29,
-                "direction_z": 0.95,
-                "distance": 1.17,
+                "direction_y": -0.25,
+                "direction_z": 0.97,
+                "distance": 1.36,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -819,7 +819,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -832,9 +832,9 @@
         "objects": [
             {
                 "direction_x": 0.05,
-                "direction_y": -0.69,
-                "direction_z": 0.72,
-                "distance": 0.99,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.15,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -853,9 +853,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -871,10 +871,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.09,
-                "direction_y": -0.53,
-                "direction_z": 0.84,
-                "distance": 1.3,
+                "direction_x": 0.08,
+                "direction_y": -0.47,
+                "direction_z": 0.88,
+                "distance": 1.48,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -893,9 +893,9 @@
             },
             {
                 "direction_x": 0.09,
-                "direction_y": -0.47,
-                "direction_z": 0.88,
-                "distance": 1.25,
+                "direction_y": -0.41,
+                "direction_z": 0.91,
+                "distance": 1.43,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -913,10 +913,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.1,
-                "direction_y": -0.41,
-                "direction_z": 0.91,
-                "distance": 1.21,
+                "direction_x": 0.08,
+                "direction_y": -0.35,
+                "direction_z": 0.93,
+                "distance": 1.39,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -934,10 +934,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.1,
-                "direction_y": -0.3,
-                "direction_z": 0.95,
-                "distance": 1.16,
+                "direction_x": 0.09,
+                "direction_y": -0.25,
+                "direction_z": 0.96,
+                "distance": 1.35,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -957,7 +957,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -970,9 +970,9 @@
         "objects": [
             {
                 "direction_x": 0.03,
-                "direction_y": -0.7,
-                "direction_z": 0.71,
-                "distance": 0.99,
+                "direction_y": -0.61,
+                "direction_z": 0.79,
+                "distance": 1.14,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -991,9 +991,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -1009,10 +1009,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.13,
-                "direction_y": -0.54,
-                "direction_z": 0.83,
-                "distance": 1.29,
+                "direction_x": 0.11,
+                "direction_y": -0.47,
+                "direction_z": 0.87,
+                "distance": 1.46,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -1030,10 +1030,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.13,
-                "direction_y": -0.48,
-                "direction_z": 0.86,
-                "distance": 1.24,
+                "direction_x": 0.12,
+                "direction_y": -0.42,
+                "direction_z": 0.9,
+                "distance": 1.41,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -1051,10 +1051,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.14,
-                "direction_y": -0.41,
-                "direction_z": 0.9,
-                "distance": 1.19,
+                "direction_x": 0.12,
+                "direction_y": -0.36,
+                "direction_z": 0.93,
+                "distance": 1.38,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -1072,10 +1072,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.15,
-                "direction_y": -0.3,
-                "direction_z": 0.94,
-                "distance": 1.14,
+                "direction_x": 0.13,
+                "direction_y": -0.26,
+                "direction_z": 0.96,
+                "distance": 1.33,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -1095,7 +1095,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -1108,9 +1108,9 @@
         "objects": [
             {
                 "direction_x": 0.02,
-                "direction_y": -0.7,
-                "direction_z": 0.71,
-                "distance": 0.98,
+                "direction_y": -0.61,
+                "direction_z": 0.79,
+                "distance": 1.14,
                 "held": false,
                 "id": "apple_a",
                 "mass": 0.25,
@@ -1129,9 +1129,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -1147,10 +1147,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.17,
-                "direction_y": -0.55,
-                "direction_z": 0.82,
-                "distance": 1.27,
+                "direction_x": 0.15,
+                "direction_y": -0.48,
+                "direction_z": 0.86,
+                "distance": 1.44,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -1168,10 +1168,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.17,
-                "direction_y": -0.49,
-                "direction_z": 0.86,
-                "distance": 1.22,
+                "direction_x": 0.15,
+                "direction_y": -0.43,
+                "direction_z": 0.89,
+                "distance": 1.39,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -1189,10 +1189,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.18,
-                "direction_y": -0.42,
-                "direction_z": 0.89,
-                "distance": 1.17,
+                "direction_x": 0.16,
+                "direction_y": -0.36,
+                "direction_z": 0.92,
+                "distance": 1.35,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -1210,10 +1210,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.19,
-                "direction_y": -0.31,
-                "direction_z": 0.93,
-                "distance": 1.12,
+                "direction_x": 0.16,
+                "direction_y": -0.26,
+                "direction_z": 0.95,
+                "distance": 1.31,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -1233,7 +1233,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -1257,7 +1257,7 @@
                 ],
                 "position_x": 0.2,
                 "position_y": 0.62,
-                "position_z": 1.5,
+                "position_z": 1.3,
                 "rotation_y": 0,
                 "shape": "apple",
                 "texture_color_list": [
@@ -1267,9 +1267,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -1285,10 +1285,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.2,
-                "direction_y": -0.56,
-                "direction_z": 0.81,
-                "distance": 1.24,
+                "direction_x": 0.18,
+                "direction_y": -0.49,
+                "direction_z": 0.85,
+                "distance": 1.41,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -1306,10 +1306,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.21,
-                "direction_y": -0.5,
-                "direction_z": 0.84,
-                "distance": 1.19,
+                "direction_x": 0.18,
+                "direction_y": -0.44,
+                "direction_z": 0.88,
+                "distance": 1.36,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -1327,10 +1327,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.22,
-                "direction_y": -0.43,
-                "direction_z": 0.88,
-                "distance": 1.14,
+                "direction_x": 0.19,
+                "direction_y": -0.37,
+                "direction_z": 0.91,
+                "distance": 1.32,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -1348,10 +1348,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.23,
-                "direction_y": -0.31,
-                "direction_z": 0.92,
-                "distance": 1.09,
+                "direction_x": 0.2,
+                "direction_y": -0.27,
+                "direction_z": 0.94,
+                "distance": 1.27,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -1371,7 +1371,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "apple_a",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
@@ -1395,7 +1395,7 @@
                 ],
                 "position_x": 0.2,
                 "position_y": 0.62,
-                "position_z": 1.5,
+                "position_z": 1.3,
                 "rotation_y": 0,
                 "shape": "apple",
                 "texture_color_list": [
@@ -1405,9 +1405,9 @@
             },
             {
                 "direction_x": 0,
-                "direction_y": -0.68,
-                "direction_z": 0.73,
-                "distance": 1.1,
+                "direction_y": -0.6,
+                "direction_z": 0.8,
+                "distance": 1.25,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -1423,10 +1423,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.2,
-                "direction_y": -0.56,
-                "direction_z": 0.81,
-                "distance": 1.24,
+                "direction_x": 0.18,
+                "direction_y": -0.49,
+                "direction_z": 0.85,
+                "distance": 1.41,
                 "held": false,
                 "id": "block_blank_a",
                 "mass": 0.66,
@@ -1444,10 +1444,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.21,
-                "direction_y": -0.5,
-                "direction_z": 0.84,
-                "distance": 1.19,
+                "direction_x": 0.18,
+                "direction_y": -0.44,
+                "direction_z": 0.88,
+                "distance": 1.36,
                 "held": false,
                 "id": "block_blank_c",
                 "mass": 0.66,
@@ -1465,10 +1465,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.22,
-                "direction_y": -0.43,
-                "direction_z": 0.88,
-                "distance": 1.14,
+                "direction_x": 0.19,
+                "direction_y": -0.37,
+                "direction_z": 0.91,
+                "distance": 1.32,
                 "held": false,
                 "id": "block_blank_d",
                 "mass": 0.66,
@@ -1486,10 +1486,10 @@
                 "visible": true
             },
             {
-                "direction_x": 0.23,
-                "direction_y": -0.31,
-                "direction_z": 0.92,
-                "distance": 1.09,
+                "direction_x": 0.2,
+                "direction_y": -0.27,
+                "direction_z": 0.94,
+                "distance": 1.27,
                 "held": false,
                 "id": "block_blank_f",
                 "mass": 0.66,
@@ -1509,7 +1509,7 @@
         ],
         "objects_count": 5,
         "position_x": 0.2,
-        "position_z": 1.2,
+        "position_z": 1.0,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
diff --git a/integration_tests/data/152.rotating_cog_stacking_objects.scene.json b/integration_tests/data/152.rotating_cog_stacking_objects.scene.json
index 58a94ceec..24352b910 100644
--- a/integration_tests/data/152.rotating_cog_stacking_objects.scene.json
+++ b/integration_tests/data/152.rotating_cog_stacking_objects.scene.json
@@ -12,7 +12,7 @@
     "performerStart": { 
         "position": { 
             "x": 0.2,
-            "z": 1.2
+            "z": 1
         },
         "rotation": { 
             "x": 30,
@@ -160,4 +160,4 @@
             }
         }]
     }] 
-}
\ No newline at end of file
+}
diff --git a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.actions.txt b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.actions.txt
index e5a8d0f4e..e2678302d 100644
--- a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.actions.txt
+++ b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.actions.txt
@@ -8,6 +8,8 @@ Pass
 Pass
 Pass
 Pass
+Pass
+Pass
 MoveAhead
 MoveAhead
 MoveAhead
diff --git a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level1.outputs.json b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level1.outputs.json
index 4d14c0b00..69fac64f8 100644
--- a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level1.outputs.json
+++ b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level1.outputs.json
@@ -730,5 +730,29 @@
         "rotation_y": null,
         "step_number": 60,
         "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 30,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "resolved_object": null,
+        "resolved_receptacle": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 61,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 30,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "resolved_object": null,
+        "resolved_receptacle": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 62,
+        "structural_objects_count": 0
     }
-]
\ No newline at end of file
+]
diff --git a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level2.outputs.json b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level2.outputs.json
index 4d14c0b00..69fac64f8 100644
--- a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level2.outputs.json
+++ b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.level2.outputs.json
@@ -730,5 +730,29 @@
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+        "position_z": null,
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+        "return_status": "SUCCESSFUL",
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+        "structural_objects_count": 0
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+        "step_number": 62,
+        "structural_objects_count": 0
     }
-]
\ No newline at end of file
+]
diff --git a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.oracle.outputs.json b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.oracle.outputs.json
index 3a2c7164d..211cae3e4 100644
--- a/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.oracle.outputs.json
+++ b/integration_tests/data/167.walk_on_rotating_cog_pickup_target_in_chest_then_walk_off.oracle.outputs.json
@@ -19,8 +19,7 @@
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-                ],
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+                ]
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@@ -37,8 +36,7 @@
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                 "shape": "structural",
-                "texture_color_list": [],
-                "visible": true
+                "texture_color_list": []
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@@ -58,8 +56,7 @@
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-                ],
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+                ]
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@@ -92,8 +89,7 @@
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-                ],
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+                ]
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@@ -110,8 +106,7 @@
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-                "visible": true
+                "texture_color_list": []
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@@ -131,8 +126,7 @@
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+                ]
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@@ -165,8 +159,7 @@
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-                ],
-                "visible": true
+                ]
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@@ -183,8 +176,7 @@
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                 "shape": "structural",
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-                "visible": true
+                "texture_color_list": []
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@@ -204,8 +196,7 @@
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-                ],
-                "visible": false
+                ]
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@@ -238,8 +229,7 @@
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-                ],
-                "visible": true
+                ]
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@@ -256,8 +246,7 @@
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+                "texture_color_list": []
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@@ -277,8 +266,7 @@
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@@ -311,8 +299,7 @@
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-                ],
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@@ -329,8 +316,7 @@
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-                "visible": true
+                "texture_color_list": []
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@@ -350,8 +336,7 @@
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+                ]
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@@ -384,8 +369,7 @@
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-                ],
-                "visible": true
+                ]
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@@ -402,8 +386,7 @@
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-                "visible": true
+                "texture_color_list": []
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@@ -423,8 +406,7 @@
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-                ],
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+                ]
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@@ -457,8 +439,7 @@
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-                ],
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@@ -475,8 +456,7 @@
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@@ -496,8 +476,7 @@
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@@ -530,8 +509,7 @@
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@@ -548,8 +526,7 @@
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@@ -569,8 +546,7 @@
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@@ -603,8 +579,7 @@
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@@ -621,8 +596,7 @@
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@@ -642,8 +616,7 @@
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@@ -676,8 +649,7 @@
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@@ -694,8 +666,7 @@
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@@ -715,8 +686,7 @@
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@@ -749,8 +719,7 @@
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+                ]
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@@ -767,8 +736,7 @@
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@@ -788,8 +756,7 @@
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@@ -809,7 +776,7 @@
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@@ -822,14 +789,13 @@
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-                "visible": true
+                ]
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@@ -840,14 +806,13 @@
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                 "shape": "structural",
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-                "visible": true
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@@ -861,13 +826,12 @@
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@@ -879,10 +843,10 @@
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@@ -895,14 +859,13 @@
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@@ -913,14 +876,13 @@
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@@ -934,13 +896,12 @@
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+                ]
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@@ -953,9 +914,9 @@
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@@ -968,14 +929,13 @@
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@@ -986,14 +946,13 @@
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@@ -1007,13 +966,12 @@
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@@ -1025,10 +983,10 @@
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@@ -1041,14 +999,13 @@
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@@ -1059,14 +1016,13 @@
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@@ -1080,17 +1036,16 @@
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+                ]
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@@ -1098,10 +1053,10 @@
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@@ -1114,14 +1069,13 @@
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@@ -1132,14 +1086,13 @@
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@@ -1153,17 +1106,16 @@
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+                ]
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@@ -1171,10 +1123,10 @@
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+                "direction_x": 0.24,
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@@ -1187,14 +1139,13 @@
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-                ],
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+                ]
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-                "distance": 1.61,
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@@ -1205,14 +1156,13 @@
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                 "shape": "structural",
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+                "direction_x": 0.25,
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@@ -1226,17 +1176,16 @@
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-                ],
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+                ]
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         "objects_count": 2,
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         "resolved_receptacle": "",
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@@ -1244,10 +1193,10 @@
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         "objects": [
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-                "distance": 2.2,
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@@ -1260,14 +1209,13 @@
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-                ],
-                "visible": true
+                ]
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-                "direction_y": -0.5,
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+                "direction_x": 0.54,
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@@ -1278,14 +1226,13 @@
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                 "shape": "structural",
-                "texture_color_list": [],
-                "visible": true
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@@ -1372,17 +1316,16 @@
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@@ -1406,14 +1349,13 @@
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@@ -1424,14 +1366,13 @@
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@@ -1445,17 +1386,16 @@
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@@ -1479,14 +1419,13 @@
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@@ -1552,14 +1489,13 @@
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@@ -1625,14 +1559,13 @@
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@@ -1698,14 +1629,13 @@
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@@ -1737,17 +1666,16 @@
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@@ -1771,14 +1699,13 @@
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@@ -1789,14 +1716,13 @@
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@@ -1810,17 +1736,16 @@
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@@ -1828,10 +1753,10 @@
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@@ -1844,14 +1769,13 @@
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@@ -1862,14 +1786,13 @@
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@@ -1883,17 +1806,16 @@
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@@ -1901,10 +1823,10 @@
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@@ -1917,14 +1839,13 @@
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@@ -1935,14 +1856,13 @@
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@@ -1956,17 +1876,16 @@
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@@ -1974,10 +1893,10 @@
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@@ -1990,14 +1909,13 @@
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@@ -2008,14 +1926,13 @@
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@@ -2029,17 +1946,16 @@
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@@ -2047,10 +1963,10 @@
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@@ -2102,17 +2016,16 @@
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@@ -2136,14 +2049,13 @@
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@@ -2209,14 +2119,13 @@
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@@ -2227,14 +2136,13 @@
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@@ -2248,13 +2156,12 @@
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@@ -2282,13 +2189,12 @@
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@@ -2355,13 +2259,12 @@
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@@ -2394,14 +2296,13 @@
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@@ -2413,9 +2314,9 @@
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@@ -2428,13 +2329,12 @@
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@@ -2446,38 +2346,36 @@
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@@ -2501,13 +2399,12 @@
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@@ -2519,38 +2416,36 @@
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@@ -2558,10 +2453,10 @@
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@@ -2574,14 +2469,13 @@
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@@ -2592,13 +2486,12 @@
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@@ -2606,24 +2499,23 @@
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@@ -2631,10 +2523,10 @@
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@@ -2647,14 +2539,13 @@
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@@ -2665,13 +2556,12 @@
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@@ -2679,24 +2569,23 @@
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@@ -2704,10 +2593,10 @@
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@@ -2720,14 +2609,13 @@
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@@ -2738,13 +2626,12 @@
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@@ -2752,24 +2639,23 @@
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@@ -2777,10 +2663,10 @@
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@@ -2793,14 +2679,13 @@
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@@ -2811,13 +2696,12 @@
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@@ -2825,24 +2709,23 @@
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@@ -2866,14 +2749,13 @@
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@@ -2884,13 +2766,12 @@
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@@ -2899,23 +2780,22 @@
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@@ -2923,9 +2803,9 @@
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@@ -2939,14 +2819,13 @@
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@@ -2957,13 +2836,12 @@
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@@ -3012,14 +2889,13 @@
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@@ -3030,13 +2906,12 @@
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@@ -3085,14 +2959,13 @@
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@@ -3117,24 +2989,23 @@
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@@ -3142,9 +3013,9 @@
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@@ -3158,14 +3029,13 @@
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@@ -3176,13 +3046,12 @@
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@@ -3190,24 +3059,23 @@
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@@ -3215,10 +3083,10 @@
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@@ -3231,14 +3099,13 @@
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@@ -3249,13 +3116,12 @@
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@@ -3263,24 +3129,23 @@
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@@ -3288,10 +3153,10 @@
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@@ -3304,13 +3169,12 @@
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@@ -3322,13 +3186,12 @@
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@@ -3336,24 +3199,23 @@
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@@ -3361,10 +3223,10 @@
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@@ -3377,17 +3239,16 @@
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@@ -3395,13 +3256,12 @@
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@@ -3409,24 +3269,23 @@
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@@ -3434,10 +3293,10 @@
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@@ -3450,14 +3309,13 @@
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@@ -3468,13 +3326,12 @@
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@@ -3482,24 +3339,23 @@
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@@ -3523,14 +3379,13 @@
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@@ -3580,10 +3433,10 @@
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@@ -3596,14 +3449,13 @@
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@@ -3628,24 +3479,23 @@
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@@ -3669,14 +3519,13 @@
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@@ -3742,14 +3589,13 @@
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@@ -3760,13 +3606,12 @@
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@@ -3815,14 +3659,13 @@
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@@ -3872,10 +3713,10 @@
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@@ -3888,14 +3729,13 @@
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@@ -3920,24 +3759,23 @@
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@@ -3945,9 +3783,9 @@
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@@ -3961,14 +3799,13 @@
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@@ -3979,8 +3816,7 @@
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@@ -3993,20 +3829,19 @@
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@@ -4018,10 +3853,10 @@
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@@ -4034,14 +3869,13 @@
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@@ -4052,13 +3886,12 @@
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@@ -4066,24 +3899,23 @@
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@@ -4091,10 +3923,10 @@
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@@ -4107,14 +3939,13 @@
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@@ -4125,13 +3956,12 @@
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@@ -4139,24 +3969,23 @@
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@@ -4164,10 +3993,10 @@
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@@ -4180,14 +4009,13 @@
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@@ -4198,13 +4026,12 @@
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+                "direction_z": 0.57,
                 "distance": 0.4,
                 "held": true,
                 "id": "soccer_ball",
@@ -4212,24 +4039,23 @@
                 "material_list": [
                     "PLASTIC"
                 ],
-                "position_x": 0.09,
-                "position_z": 3.56,
-                "rotation_y": 30,
+                "position_x": 0.65,
+                "position_z": 3.34,
+                "rotation_y": 50,
                 "shape": "ball",
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             }
         ],
         "objects_count": 2,
-        "position_x": -0.08,
-        "position_z": 3.25,
+        "position_x": 0.38,
+        "position_z": 3.11,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
-        "rotation_y": 30,
+        "rotation_y": 50,
         "step_number": 57,
         "structural_objects_count": 6
     },
@@ -4237,10 +4063,10 @@
         "head_tilt": 30,
         "objects": [
             {
-                "direction_x": 0.39,
-                "direction_y": -0.47,
-                "direction_z": -0.79,
-                "distance": 1.63,
+                "direction_x": 0.14,
+                "direction_y": -0.58,
+                "direction_z": -0.8,
+                "distance": 1.31,
                 "held": false,
                 "id": "chest",
                 "mass": 15.0,
@@ -4253,14 +4079,13 @@
                 "shape": "chest",
                 "texture_color_list": [
                     "brown"
-                ],
-                "visible": false
+                ]
             },
             {
-                "direction_x": -0.04,
-                "direction_y": -0.38,
-                "direction_z": -0.92,
-                "distance": 2.0,
+                "direction_x": -0.29,
+                "direction_y": -0.41,
+                "direction_z": -0.87,
+                "distance": 1.86,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -4271,13 +4096,12 @@
                 "position_z": 1.5,
                 "rotation_y": 220,
                 "shape": "structural",
-                "texture_color_list": [],
-                "visible": true
+                "texture_color_list": []
             },
             {
-                "direction_x": 0.57,
+                "direction_x": 0.76,
                 "direction_y": -0.48,
-                "direction_z": 0.67,
+                "direction_z": 0.44,
                 "distance": 0.4,
                 "held": true,
                 "id": "soccer_ball",
@@ -4285,24 +4109,23 @@
                 "material_list": [
                     "PLASTIC"
                 ],
-                "position_x": 0.51,
-                "position_z": 3.62,
-                "rotation_y": 40,
+                "position_x": 1.05,
+                "position_z": 3.28,
+                "rotation_y": 60,
                 "shape": "ball",
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             }
         ],
         "objects_count": 2,
-        "position_x": 0.29,
-        "position_z": 3.35,
+        "position_x": 0.74,
+        "position_z": 3.11,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
-        "rotation_y": 40,
+        "rotation_y": 60,
         "step_number": 58,
         "structural_objects_count": 6
     },
@@ -4310,10 +4133,10 @@
         "head_tilt": 30,
         "objects": [
             {
-                "direction_x": 0.37,
-                "direction_y": -0.42,
+                "direction_x": -0.07,
+                "direction_y": -0.57,
                 "direction_z": -0.83,
-                "distance": 1.81,
+                "distance": 1.34,
                 "held": false,
                 "id": "chest",
                 "mass": 15.0,
@@ -4326,14 +4149,13 @@
                 "shape": "chest",
                 "texture_color_list": [
                     "brown"
-                ],
-                "visible": false
+                ]
             },
             {
-                "direction_x": -0.07,
-                "direction_y": -0.36,
-                "direction_z": -0.93,
-                "distance": 2.07,
+                "direction_x": -0.47,
+                "direction_y": -0.39,
+                "direction_z": -0.79,
+                "distance": 1.93,
                 "held": false,
                 "id": "rotating_cog_a",
                 "mass": 10.0,
@@ -4344,13 +4166,12 @@
                 "position_z": 1.5,
                 "rotation_y": 230,
                 "shape": "structural",
-                "texture_color_list": [],
-                "visible": true
+                "texture_color_list": []
             },
             {
-                "direction_x": 0.57,
+                "direction_x": 0.83,
                 "direction_y": -0.48,
-                "direction_z": 0.67,
+                "direction_z": 0.3,
                 "distance": 0.4,
                 "held": true,
                 "id": "soccer_ball",
@@ -4358,24 +4179,23 @@
                 "material_list": [
                     "PLASTIC"
                 ],
-                "position_x": 0.58,
-                "position_z": 3.7,
-                "rotation_y": 40,
+                "position_x": 1.44,
+                "position_z": 3.14,
+                "rotation_y": 70,
                 "shape": "ball",
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             }
         ],
         "objects_count": 2,
-        "position_x": 0.35,
-        "position_z": 3.43,
+        "position_x": 1.11,
+        "position_z": 3.02,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
-        "rotation_y": 40,
+        "rotation_y": 70,
         "step_number": 59,
         "structural_objects_count": 6
     },
@@ -4383,10 +4203,10 @@
         "head_tilt": 30,
         "objects": [
             {
-                "direction_x": 0.33,
-                "direction_y": -0.38,
-                "direction_z": -0.86,
-                "distance": 2.0,
+                "direction_x": -0.27,
+                "direction_y": -0.55,
+                "direction_z": -0.79,
+                "distance": 1.37,
                 "held": false,
                 "id": "chest",
                 "mass": 15.0,
@@ -4399,13 +4219,152 @@
                 "shape": "chest",
                 "texture_color_list": [
                     "brown"
+                ]
+            },
+            {
+                "direction_x": -0.63,
+                "direction_y": -0.38,
+                "direction_z": -0.68,
+                "distance": 2.0,
+                "held": false,
+                "id": "rotating_cog_a",
+                "mass": 10.0,
+                "material_list": [
+                    "UNDEFINED"
                 ],
-                "visible": false
+                "position_x": 0.2,
+                "position_z": 1.5,
+                "rotation_y": 240,
+                "shape": "structural",
+                "texture_color_list": []
             },
             {
-                "direction_x": -0.1,
+                "direction_x": 0.87,
+                "direction_y": -0.48,
+                "direction_z": 0.15,
+                "distance": 0.4,
+                "held": true,
+                "id": "soccer_ball",
+                "mass": 1.0,
+                "material_list": [
+                    "PLASTIC"
+                ],
+                "position_x": 1.8,
+                "position_z": 2.92,
+                "rotation_y": 80,
+                "shape": "ball",
+                "texture_color_list": [
+                    "white",
+                    "black"
+                ]
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 1.46,
+        "position_z": 2.86,
+        "resolved_object": "",
+        "resolved_receptacle": "",
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 80,
+        "step_number": 60,
+        "structural_objects_count": 6
+    },
+    {
+        "head_tilt": 30,
+        "objects": [
+            {
+                "direction_x": -0.29,
+                "direction_y": -0.49,
+                "direction_z": -0.83,
+                "distance": 1.53,
+                "held": false,
+                "id": "chest",
+                "mass": 15.0,
+                "material_list": [
+                    "WOOD"
+                ],
+                "position_x": 1.11,
+                "position_z": 1.62,
+                "rotation_y": 250,
+                "shape": "chest",
+                "texture_color_list": [
+                    "brown"
+                ]
+            },
+            {
+                "direction_x": -0.65,
+                "direction_y": -0.36,
+                "direction_z": -0.66,
+                "distance": 2.07,
+                "held": false,
+                "id": "rotating_cog_a",
+                "mass": 10.0,
+                "material_list": [
+                    "UNDEFINED"
+                ],
+                "position_x": 0.2,
+                "position_z": 1.5,
+                "rotation_y": 250,
+                "shape": "structural",
+                "texture_color_list": []
+            },
+            {
+                "direction_x": 0.87,
+                "direction_y": -0.48,
+                "direction_z": 0.15,
+                "distance": 0.4,
+                "held": true,
+                "id": "soccer_ball",
+                "mass": 1.0,
+                "material_list": [
+                    "PLASTIC"
+                ],
+                "position_x": 1.9,
+                "position_z": 2.94,
+                "rotation_y": 80,
+                "shape": "ball",
+                "texture_color_list": [
+                    "white",
+                    "black"
+                ]
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 1.56,
+        "position_z": 2.88,
+        "resolved_object": "",
+        "resolved_receptacle": "",
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 80,
+        "step_number": 61,
+        "structural_objects_count": 6
+    },
+    {
+        "head_tilt": 30,
+        "objects": [
+            {
+                "direction_x": -0.31,
+                "direction_y": -0.44,
+                "direction_z": -0.84,
+                "distance": 1.71,
+                "held": false,
+                "id": "chest",
+                "mass": 15.0,
+                "material_list": [
+                    "WOOD"
+                ],
+                "position_x": 1.12,
+                "position_z": 1.46,
+                "rotation_y": 260,
+                "shape": "chest",
+                "texture_color_list": [
+                    "brown"
+                ]
+            },
+            {
+                "direction_x": -0.68,
                 "direction_y": -0.35,
-                "direction_z": -0.93,
+                "direction_z": -0.65,
                 "distance": 2.15,
                 "held": false,
                 "id": "rotating_cog_a",
@@ -4415,15 +4374,14 @@
                 ],
                 "position_x": 0.2,
                 "position_z": 1.5,
-                "rotation_y": 240,
+                "rotation_y": 260,
                 "shape": "structural",
-                "texture_color_list": [],
-                "visible": true
+                "texture_color_list": []
             },
             {
-                "direction_x": 0.57,
+                "direction_x": 0.87,
                 "direction_y": -0.48,
-                "direction_z": 0.67,
+                "direction_z": 0.15,
                 "distance": 0.4,
                 "held": true,
                 "id": "soccer_ball",
@@ -4431,25 +4389,24 @@
                 "material_list": [
                     "PLASTIC"
                 ],
-                "position_x": 0.64,
-                "position_z": 3.77,
-                "rotation_y": 40,
+                "position_x": 2.0,
+                "position_z": 2.96,
+                "rotation_y": 80,
                 "shape": "ball",
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             }
         ],
         "objects_count": 2,
-        "position_x": 0.42,
-        "position_z": 3.5,
+        "position_x": 1.65,
+        "position_z": 2.9,
         "resolved_object": "",
         "resolved_receptacle": "",
         "return_status": "SUCCESSFUL",
-        "rotation_y": 40,
-        "step_number": 60,
+        "rotation_y": 80,
+        "step_number": 62,
         "structural_objects_count": 6
     }
-]
\ No newline at end of file
+]
diff --git a/integration_tests/data/170.attachable_lid.oracle.outputs.json b/integration_tests/data/170.attachable_lid.oracle.outputs.json
index 60473c67d..b01d42a65 100644
--- a/integration_tests/data/170.attachable_lid.oracle.outputs.json
+++ b/integration_tests/data/170.attachable_lid.oracle.outputs.json
@@ -20,8 +20,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.36,
@@ -41,8 +40,7 @@
                 "shape": "bowl",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.36,
@@ -60,8 +58,7 @@
                 "shape": "container",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.37,
@@ -82,8 +79,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.21,
@@ -104,8 +100,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.16,
@@ -126,8 +121,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.16,
@@ -148,8 +142,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.31,
@@ -169,8 +162,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.31,
@@ -190,8 +182,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -225,8 +216,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.36,
@@ -246,8 +236,7 @@
                 "shape": "bowl",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.36,
@@ -265,8 +254,7 @@
                 "shape": "container",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.37,
@@ -287,8 +275,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.21,
@@ -309,8 +296,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.16,
@@ -331,8 +317,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.16,
@@ -353,8 +338,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.31,
@@ -374,8 +358,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.31,
@@ -395,8 +378,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -430,8 +412,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.36,
@@ -451,8 +432,7 @@
                 "shape": "bowl",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.36,
@@ -470,8 +450,7 @@
                 "shape": "container",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.37,
@@ -492,8 +471,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.22,
@@ -515,8 +493,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.16,
@@ -537,8 +514,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.16,
@@ -559,8 +535,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.31,
@@ -580,8 +555,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.31,
@@ -601,8 +575,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -636,8 +609,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.36,
@@ -657,8 +629,7 @@
                 "shape": "bowl",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.36,
@@ -676,8 +647,7 @@
                 "shape": "container",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.37,
@@ -698,8 +668,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.18,
@@ -721,8 +690,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.16,
@@ -743,8 +711,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.16,
@@ -765,8 +732,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.31,
@@ -786,8 +752,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.31,
@@ -807,8 +772,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -842,8 +806,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.36,
@@ -863,8 +826,7 @@
                 "shape": "bowl",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.36,
@@ -882,8 +844,7 @@
                 "shape": "container",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.37,
@@ -904,8 +865,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.16,
@@ -927,8 +887,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.16,
@@ -949,8 +908,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.16,
@@ -971,8 +929,7 @@
                 "texture_color_list": [
                     "magenta",
                     "purple"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.31,
@@ -992,8 +949,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.31,
@@ -1013,8 +969,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -1048,8 +1003,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.36,
@@ -1069,8 +1023,7 @@
                 "shape": "bowl",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.36,
@@ -1088,8 +1041,7 @@
                 "shape": "container",
                 "texture_color_list": [
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.37,
@@ -1110,8 +1062,7 @@
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@@ -1133,8 +1084,7 @@
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@@ -1155,8 +1105,7 @@
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@@ -1177,8 +1126,7 @@
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@@ -1198,8 +1146,7 @@
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@@ -1219,8 +1166,7 @@
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@@ -1254,8 +1200,7 @@
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@@ -1275,8 +1220,7 @@
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@@ -1294,8 +1238,7 @@
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@@ -1316,8 +1259,7 @@
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@@ -1339,8 +1281,7 @@
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@@ -1361,8 +1302,7 @@
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@@ -1383,8 +1323,7 @@
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@@ -1404,8 +1343,7 @@
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@@ -1425,8 +1363,7 @@
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@@ -1460,8 +1397,7 @@
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@@ -1481,8 +1417,7 @@
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@@ -1500,8 +1435,7 @@
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@@ -1522,8 +1456,7 @@
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@@ -1545,8 +1478,7 @@
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@@ -1567,8 +1499,7 @@
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@@ -1589,8 +1520,7 @@
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@@ -1610,8 +1540,7 @@
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@@ -1631,8 +1560,7 @@
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@@ -1666,8 +1594,7 @@
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@@ -1687,8 +1614,7 @@
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@@ -1706,8 +1632,7 @@
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@@ -1728,8 +1653,7 @@
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@@ -1751,8 +1675,7 @@
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@@ -1773,8 +1696,7 @@
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@@ -1795,8 +1717,7 @@
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@@ -1816,8 +1737,7 @@
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@@ -1837,8 +1757,7 @@
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@@ -1872,8 +1791,7 @@
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@@ -1893,8 +1811,7 @@
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@@ -1912,8 +1829,7 @@
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@@ -1934,8 +1850,7 @@
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@@ -1957,8 +1872,7 @@
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@@ -1979,8 +1893,7 @@
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@@ -2001,8 +1914,7 @@
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@@ -2022,8 +1934,7 @@
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@@ -2043,8 +1954,7 @@
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@@ -2078,8 +1988,7 @@
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@@ -2099,8 +2008,7 @@
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@@ -2118,8 +2026,7 @@
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@@ -2140,8 +2047,7 @@
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@@ -2163,8 +2069,7 @@
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@@ -2185,8 +2090,7 @@
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@@ -2207,8 +2111,7 @@
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@@ -2228,8 +2131,7 @@
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@@ -2249,8 +2151,7 @@
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@@ -2284,8 +2185,7 @@
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@@ -2305,8 +2205,7 @@
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@@ -2324,8 +2223,7 @@
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@@ -2346,8 +2244,7 @@
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@@ -2369,8 +2266,7 @@
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@@ -2391,8 +2287,7 @@
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@@ -2413,8 +2308,7 @@
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@@ -2434,8 +2328,7 @@
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@@ -2455,8 +2348,7 @@
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@@ -2490,8 +2382,7 @@
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@@ -2511,8 +2402,7 @@
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@@ -2530,8 +2420,7 @@
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@@ -2552,8 +2441,7 @@
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@@ -2575,8 +2463,7 @@
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@@ -2597,8 +2484,7 @@
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@@ -2619,8 +2505,7 @@
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@@ -2640,8 +2525,7 @@
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@@ -2661,8 +2545,7 @@
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@@ -2696,8 +2579,7 @@
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@@ -2718,8 +2600,7 @@
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@@ -2738,8 +2619,7 @@
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@@ -2760,8 +2640,7 @@
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@@ -2783,8 +2662,7 @@
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@@ -2806,8 +2684,7 @@
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@@ -2829,8 +2706,7 @@
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@@ -2850,8 +2726,7 @@
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@@ -2871,8 +2746,7 @@
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@@ -2906,8 +2780,7 @@
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@@ -2928,8 +2801,7 @@
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@@ -2948,8 +2820,7 @@
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@@ -2970,8 +2841,7 @@
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@@ -2993,8 +2863,7 @@
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@@ -3016,8 +2885,7 @@
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@@ -3039,8 +2907,7 @@
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@@ -3060,8 +2927,7 @@
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@@ -3081,8 +2947,7 @@
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@@ -3116,8 +2981,7 @@
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@@ -3138,8 +3002,7 @@
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@@ -3158,8 +3021,7 @@
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@@ -3180,8 +3042,7 @@
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@@ -3203,8 +3064,7 @@
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@@ -3226,8 +3086,7 @@
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@@ -3249,8 +3108,7 @@
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@@ -3270,8 +3128,7 @@
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@@ -3291,8 +3148,7 @@
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@@ -3326,8 +3182,7 @@
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@@ -3348,8 +3203,7 @@
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@@ -3368,8 +3222,7 @@
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@@ -3390,8 +3243,7 @@
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@@ -3413,8 +3265,7 @@
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@@ -3436,8 +3287,7 @@
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@@ -3459,8 +3309,7 @@
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@@ -3480,8 +3329,7 @@
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@@ -3501,8 +3349,7 @@
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@@ -3536,8 +3383,7 @@
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@@ -3558,8 +3404,7 @@
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@@ -5513,8 +5275,7 @@
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@@ -5536,8 +5297,7 @@
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@@ -8709,8 +8334,7 @@
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@@ -8896,8 +8513,7 @@
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@@ -8919,8 +8535,7 @@
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@@ -9083,8 +8692,7 @@
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@@ -9106,8 +8714,7 @@
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@@ -9129,8 +8736,7 @@
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@@ -9316,8 +8915,7 @@
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@@ -9339,8 +8937,7 @@
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@@ -9526,8 +9116,7 @@
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@@ -10366,8 +9920,7 @@
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@@ -10576,8 +10121,7 @@
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@@ -10599,8 +10143,7 @@
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@@ -10996,8 +10523,7 @@
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@@ -11626,8 +11126,7 @@
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@@ -11836,8 +11327,7 @@
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@@ -12023,8 +11506,7 @@
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@@ -12046,8 +11528,7 @@
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@@ -12069,8 +11550,7 @@
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@@ -12466,8 +11930,7 @@
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@@ -12489,8 +11952,7 @@
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@@ -12676,8 +12131,7 @@
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@@ -12699,8 +12153,7 @@
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@@ -12886,8 +12332,7 @@
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@@ -12909,8 +12354,7 @@
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@@ -13073,8 +12511,7 @@
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@@ -13096,8 +12533,7 @@
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@@ -13119,8 +12555,7 @@
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@@ -13218,8 +12650,7 @@
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@@ -13260,8 +12690,7 @@
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@@ -13283,8 +12712,7 @@
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@@ -13306,8 +12734,7 @@
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@@ -13329,8 +12756,7 @@
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@@ -13493,8 +12913,7 @@
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@@ -13516,8 +12935,7 @@
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@@ -13539,8 +12957,7 @@
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@@ -13560,8 +12977,7 @@
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@@ -13726,8 +13136,7 @@
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@@ -14566,8 +13940,7 @@
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@@ -14589,8 +13962,7 @@
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@@ -14986,8 +14342,7 @@
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@@ -15219,8 +14565,7 @@
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@@ -15406,8 +14744,7 @@
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@@ -15429,8 +14766,7 @@
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@@ -15593,8 +14923,7 @@
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@@ -15616,8 +14945,7 @@
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@@ -15639,8 +14967,7 @@
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@@ -15826,8 +15146,7 @@
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@@ -16036,8 +15347,7 @@
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@@ -16246,8 +15548,7 @@
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                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21351,8 +20434,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -21386,8 +20468,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21408,8 +20489,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21428,8 +20508,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21450,8 +20529,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -21473,8 +20551,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -21496,8 +20573,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -21519,8 +20595,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21540,8 +20615,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21561,8 +20635,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -21596,8 +20669,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21618,8 +20690,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21638,8 +20709,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21660,8 +20730,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -21683,8 +20752,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -21706,8 +20774,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -21729,8 +20796,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21750,8 +20816,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21771,8 +20836,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -21806,8 +20870,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21828,8 +20891,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21848,8 +20910,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21870,8 +20931,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -21893,8 +20953,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -21916,8 +20975,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -21939,8 +20997,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21960,8 +21017,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -21981,8 +21037,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -22016,8 +21071,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22038,8 +21092,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22058,8 +21111,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22080,8 +21132,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -22103,8 +21154,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -22126,8 +21176,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -22149,8 +21198,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22170,8 +21218,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22191,8 +21238,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -22226,8 +21272,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22248,8 +21293,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22268,8 +21312,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22290,8 +21333,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -22313,8 +21355,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -22336,8 +21377,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -22359,8 +21399,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22380,8 +21419,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22401,8 +21439,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -22436,8 +21473,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22458,8 +21494,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22478,8 +21513,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22500,8 +21534,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -22523,8 +21556,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -22546,8 +21578,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -22569,8 +21600,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22590,8 +21620,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22611,8 +21640,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -22646,8 +21674,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22668,8 +21695,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22688,8 +21714,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22710,8 +21735,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -22733,8 +21757,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -22756,8 +21779,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -22779,8 +21801,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22800,8 +21821,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22821,8 +21841,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -22856,8 +21875,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22878,8 +21896,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22898,8 +21915,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -22920,8 +21936,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -22943,8 +21958,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -22966,8 +21980,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -22989,8 +22002,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23010,8 +22022,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23031,8 +22042,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -23066,8 +22076,7 @@
                 "shape": "structural",
                 "texture_color_list": [
                     "white"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23088,8 +22097,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23108,8 +22116,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": false
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23130,8 +22137,7 @@
                 "texture_color_list": [
                     "white",
                     "black"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.1,
@@ -23153,8 +22159,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": -0.09,
@@ -23176,8 +22181,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.09,
@@ -23199,8 +22203,7 @@
                     "cyan",
                     "blue",
                     "green"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23220,8 +22223,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -23241,8 +22243,7 @@
                 "shape": "lid",
                 "texture_color_list": [
                     "grey"
-                ],
-                "visible": false
+                ]
             }
         ],
         "objects_count": 5,
@@ -23255,4 +22256,4 @@
         "step_number": 110,
         "structural_objects_count": 9
     }
-]
\ No newline at end of file
+]
diff --git a/integration_tests/data/173.attachable_lid_at_angle.oracle.outputs.json b/integration_tests/data/173.attachable_lid_at_angle.oracle.outputs.json
index 5eda4e97a..ddb8aefbe 100644
--- a/integration_tests/data/173.attachable_lid_at_angle.oracle.outputs.json
+++ b/integration_tests/data/173.attachable_lid_at_angle.oracle.outputs.json
@@ -4516,8 +4516,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -4682,8 +4681,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -4848,8 +4846,7 @@
                 "texture_color_list": [
                     "black",
                     "grey"
-                ],
-                "visible": true
+                ]
             },
             {
                 "direction_x": 0.0,
@@ -12919,4 +12916,4 @@
         "step_number": 77,
         "structural_objects_count": 8
     }
-]
\ No newline at end of file
+]
diff --git a/integration_tests/data/177.move_object_hooked_tool_many_directions.actions.txt b/integration_tests/data/177.move_object_hooked_tool_many_directions.actions.txt
new file mode 100644
index 000000000..08cfcf58d
--- /dev/null
+++ b/integration_tests/data/177.move_object_hooked_tool_many_directions.actions.txt
@@ -0,0 +1,45 @@
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveBack
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveBack
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveBack
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveBack
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveBack
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveBack
+MoveObject,objectId=tool,lateral=0,straight=-1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=1,straight=1
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
+MoveObject,objectId=tool,lateral=-1,straight=0
diff --git a/integration_tests/data/177.move_object_hooked_tool_many_directions.level1.outputs.json b/integration_tests/data/177.move_object_hooked_tool_many_directions.level1.outputs.json
new file mode 100644
index 000000000..31f4cf1ee
--- /dev/null
+++ b/integration_tests/data/177.move_object_hooked_tool_many_directions.level1.outputs.json
@@ -0,0 +1,415 @@
+[{
+    "step_number": 0,
+    "head_tilt": 10,
+    "position_x": null,
+    "position_z": null,
+    "return_status": "SUCCESSFUL",
+    "rotation_y": null,
+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
+    "step_number": 1,
+    "head_tilt": 10,
+    "position_x": null,
+    "position_z": null,
+    "return_status": "SUCCESSFUL",
+    "rotation_y": null,
+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
+    "step_number": 2,
+    "head_tilt": 10,
+    "position_x": null,
+    "position_z": null,
+    "return_status": "SUCCESSFUL",
+    "rotation_y": null,
+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
+    "step_number": 3,
+    "head_tilt": 10,
+    "position_x": null,
+    "position_z": null,
+    "return_status": "SUCCESSFUL",
+    "rotation_y": null,
+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
+    "step_number": 4,
+    "head_tilt": 10,
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new file mode 100644
index 000000000..f52107944
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+]
\ No newline at end of file
diff --git a/integration_tests/data/177.move_object_hooked_tool_many_directions.scene.json b/integration_tests/data/177.move_object_hooked_tool_many_directions.scene.json
new file mode 100644
index 000000000..7f5503520
--- /dev/null
+++ b/integration_tests/data/177.move_object_hooked_tool_many_directions.scene.json
@@ -0,0 +1,132 @@
+﻿{
+    "name": "MoveObject on a hooked tool with many targets in many directions",
+    "version": 2,
+    "ceilingMaterial": "Custom/Materials/WhiteDrywallMCS",
+    "floorMaterial": "Custom/Materials/TanWoodMCS",
+    "wallMaterial": "Custom/Materials/PurpleDrywallMCS",
+    "roomDimensions": {
+        "x": 15,
+        "y": 3,
+        "z": 15
+    },
+    "performerStart": {
+        "position": {
+            "x": -1.8,
+            "z": 1
+        },
+        "rotation": {
+            "x": 10,
+            "y": 90
+        }
+    },
+    "objects": [{
+        "id": "target_1",
+        "type": "soccer_ball",
+        "mass": 2,
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": 2,
+                "y": 0.22,
+                "z": 2
+            },
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "scale": {
+                "x": 2,
+                "y": 2,
+                "z": 2
+            }
+        }]
+    }, {
+        "id": "target_2",
+        "type": "soccer_ball",
+        "mass": 2,
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": 2,
+                "y": 0.22,
+                "z": 0
+            },
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "scale": {
+                "x": 2,
+                "y": 2,
+                "z": 2
+            }
+        }]
+    }, {
+        "id": "target_3",
+        "type": "soccer_ball",
+        "mass": 2,
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": 4,
+                "y": 0.22,
+                "z": 2
+            },
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "scale": {
+                "x": 2,
+                "y": 2,
+                "z": 2
+            }
+        }]
+    }, {
+        "id": "target_4",
+        "type": "soccer_ball",
+        "mass": 2,
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": 3,
+                "y": 0.22,
+                "z": 4
+            },
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "scale": {
+                "x": 2,
+                "y": 2,
+                "z": 2
+            }
+        }]
+    }, {
+        "id": "tool",
+        "type": "tool_hooked_1_00_x_5_00",
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": 1,
+                "y": 0.15,
+                "z": 2
+            },
+            "rotation": {
+                "x": 0,
+                "y": 90,
+                "z": 0
+            },
+            "scale": {
+                "x": 1,
+                "y": 1,
+                "z": 1
+            }
+        }]
+    }]
+}
diff --git a/integration_tests/data/178.move_object_far_end_angled_tool.actions.txt b/integration_tests/data/178.move_object_far_end_angled_tool.actions.txt
new file mode 100644
index 000000000..7f3395c96
--- /dev/null
+++ b/integration_tests/data/178.move_object_far_end_angled_tool.actions.txt
@@ -0,0 +1,30 @@
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
+MoveAhead
+MoveObject,objectId=tool,lateral=0,straight=1
diff --git a/integration_tests/data/178.move_object_far_end_angled_tool.level1.outputs.json b/integration_tests/data/178.move_object_far_end_angled_tool.level1.outputs.json
new file mode 100644
index 000000000..aab460ccc
--- /dev/null
+++ b/integration_tests/data/178.move_object_far_end_angled_tool.level1.outputs.json
@@ -0,0 +1,280 @@
+[{
+    "step_number": 0,
+    "head_tilt": 10,
+    "position_x": null,
+    "position_z": null,
+    "return_status": "SUCCESSFUL",
+    "rotation_y": null,
+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
+    "step_number": 1,
+    "head_tilt": 10,
+    "position_x": null,
+    "position_z": null,
+    "return_status": "SUCCESSFUL",
+    "rotation_y": null,
+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
+    "step_number": 2,
+    "head_tilt": 10,
+    "position_x": null,
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+    "return_status": "SUCCESSFUL",
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+    "objects_count": 0,
+    "structural_objects_count": 0
+}, {
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+}, {
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+    "return_status": "SUCCESSFUL",
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+    "objects_count": 0,
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+}, {
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diff --git a/integration_tests/data/178.move_object_far_end_angled_tool.level2.outputs.json b/integration_tests/data/178.move_object_far_end_angled_tool.level2.outputs.json
new file mode 100644
index 000000000..aab460ccc
--- /dev/null
+++ b/integration_tests/data/178.move_object_far_end_angled_tool.level2.outputs.json
@@ -0,0 +1,280 @@
+[{
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new file mode 100644
index 000000000..786b78dfd
--- /dev/null
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+                "visible": false
+            },
+            {
+                "direction_x": -0.45,
+                "direction_y": -0.16,
+                "direction_z": 0.88,
+                "distance": 3.77,
+                "id": "tool",
+                "position_x": 0.85,
+                "position_z": 0.85,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.53,
+        "position_z": -2.47,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 23,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.48,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.37,
+                "id": "target_1",
+                "position_x": -1.05,
+                "position_z": 3.96,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.42,
+                "direction_y": -0.16,
+                "direction_z": 0.89,
+                "distance": 3.8,
+                "id": "tool",
+                "position_x": 0.92,
+                "position_z": 0.92,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.53,
+        "position_z": -2.47,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 24,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.5,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.35,
+                "id": "target_1",
+                "position_x": -1.04,
+                "position_z": 3.96,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.45,
+                "direction_y": -0.16,
+                "direction_z": 0.88,
+                "distance": 3.77,
+                "id": "tool",
+                "position_x": 0.92,
+                "position_z": 0.92,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.6,
+        "position_z": -2.4,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 25,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.48,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.37,
+                "id": "target_1",
+                "position_x": -0.97,
+                "position_z": 4.03,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.42,
+                "direction_y": -0.16,
+                "direction_z": 0.89,
+                "distance": 3.8,
+                "id": "tool",
+                "position_x": 0.99,
+                "position_z": 0.99,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.6,
+        "position_z": -2.4,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 26,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.5,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.35,
+                "id": "target_1",
+                "position_x": -0.97,
+                "position_z": 4.03,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.45,
+                "direction_y": -0.16,
+                "direction_z": 0.88,
+                "distance": 3.77,
+                "id": "tool",
+                "position_x": 0.99,
+                "position_z": 0.99,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.67,
+        "position_z": -2.33,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 27,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.48,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.38,
+                "id": "target_1",
+                "position_x": -0.9,
+                "position_z": 4.1,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.42,
+                "direction_y": -0.16,
+                "direction_z": 0.89,
+                "distance": 3.8,
+                "id": "tool",
+                "position_x": 1.06,
+                "position_z": 1.06,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.67,
+        "position_z": -2.33,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 28,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.5,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.35,
+                "id": "target_1",
+                "position_x": -0.9,
+                "position_z": 4.1,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.45,
+                "direction_y": -0.16,
+                "direction_z": 0.88,
+                "distance": 3.77,
+                "id": "tool",
+                "position_x": 1.06,
+                "position_z": 1.06,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.74,
+        "position_z": -2.26,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 29,
+        "structural_objects_count": 5
+    },
+    {
+        "objects": [
+            {
+                "direction_x": -0.48,
+                "direction_y": -0.07,
+                "direction_z": 0.87,
+                "distance": 7.38,
+                "id": "target_1",
+                "position_x": -0.83,
+                "position_z": 4.17,
+                "shape": "ball",
+                "visible": false
+            },
+            {
+                "direction_x": -0.42,
+                "direction_y": -0.16,
+                "direction_z": 0.89,
+                "distance": 3.8,
+                "id": "tool",
+                "position_x": 1.13,
+                "position_z": 1.13,
+                "shape": "tool",
+                "visible": true
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 2.74,
+        "position_z": -2.26,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 45,
+        "step_number": 30,
+        "structural_objects_count": 5
+    }
+]
\ No newline at end of file
diff --git a/integration_tests/data/178.move_object_far_end_angled_tool.scene.json b/integration_tests/data/178.move_object_far_end_angled_tool.scene.json
new file mode 100644
index 000000000..ac028fa51
--- /dev/null
+++ b/integration_tests/data/178.move_object_far_end_angled_tool.scene.json
@@ -0,0 +1,66 @@
+﻿{
+    "name": "MoveObject on the far end of an angled tool",
+    "version": 2,
+    "ceilingMaterial": "Custom/Materials/WhiteDrywallMCS",
+    "floorMaterial": "Custom/Materials/TanWoodMCS",
+    "wallMaterial": "Custom/Materials/PurpleDrywallMCS",
+    "roomDimensions": {
+        "x": 15,
+        "y": 3,
+        "z": 15
+    },
+    "performerStart": {
+        "position": {
+            "x": 1.75,
+            "z": -3.25
+        },
+        "rotation": {
+            "x": 10,
+            "y": 45
+        }
+    },
+    "objects": [{
+        "id": "target_1",
+        "type": "soccer_ball",
+        "mass": 2,
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": -2,
+                "y": 0.22,
+                "z": 3
+            },
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "scale": {
+                "x": 2,
+                "y": 2,
+                "z": 2
+            }
+        }]
+    }, {
+        "id": "tool",
+        "type": "tool_rect_1_00_x_9_00",
+        "shows": [{
+            "stepBegin": 0,
+            "position": {
+                "x": 0,
+                "y": 0.15,
+                "z": 0
+            },
+            "rotation": {
+                "x": 0,
+                "y": -45,
+                "z": 0
+            },
+            "scale": {
+                "x": 1,
+                "y": 1,
+                "z": 1
+            }
+        }]
+    }]
+}