diff --git "a/scenes/unicycle/test/unicycle_test_linear_137_config.json" "b/scenes/unicycle/test/unicycle_test_linear_137_config.json"
--- "a/scenes/unicycle/test/unicycle_test_linear_137_config.json"
+++ "b/scenes/unicycle/test/unicycle_test_linear_137_config.json"
@@ -12,10 +12,10 @@
   "video_directory": "output/videos",
   "scene_index": 137,
   "scene_index_offset": 0,
-  "seed": 3742483027,
+  "seed": 762537431,
   "fps": 32,
   "duration": 5.0,
-  "number_of_videos": 300,
+  "number_of_videos": 150,
   "split": "unicycle_test_linear",
   "min_x": -5.0,
   "max_x": 5.0,
@@ -29,13 +29,14 @@
   "number_of_samples": 4,
   "min_number_of_bounces": 8,
   "max_number_of_bounces": 8,
+  "cyclic_lights": false,
   "key_light_jitter": 1.0,
   "fill_light_jitter": 1.0,
   "back_light_jitter": 1.0,
   "camera_jitter": 0.5,
   "min_number_of_clutter_objects": 2,
   "max_number_of_clutter_objects": 3,
-  "number_of_clutter_objects": 2,
+  "number_of_clutter_objects": 3,
   "min_number_of_orbit_cycles": 0,
   "max_number_of_orbit_cycles": 0,
   "number_of_orbit_cycles": 0,
@@ -109,31 +110,44 @@
   },
   "objects": [
     {
-      "mesh": "Cylinder",
-      "material": "Rubber",
+      "mesh": "Cube",
+      "material": "Metal",
       "size": "large",
-      "color": "red",
-      "angle": 1.3300332028727273,
+      "color": "cyan",
+      "angle": 2.572087220410889,
       "location": {
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+        "x": 1.9137674161963947,
+        "y": 4.368809771360311,
         "z": 0.5
       },
       "always_within_boundaries": true
     },
     {
-      "mesh": "Cube",
+      "mesh": "Cylinder",
       "material": "Rubber",
       "size": "large",
       "color": "red",
-      "angle": 0.10538271339689946,
+      "angle": 1.7810559176770362,
       "location": {
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-        "y": -0.3784696325508161,
+        "x": -4.301029252619312,
+        "y": -2.5225240351708242,
         "z": 0.5
       },
       "always_within_boundaries": true
     },
+    {
+      "mesh": "Cylinder",
+      "material": "Rubber",
+      "size": "small",
+      "color": "brown",
+      "angle": 0.6284074195978285,
+      "location": {
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+        "y": -1.575852729860987,
+        "z": 0.25
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+      "always_within_boundaries": true
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       "cycles": {
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@@ -141,1142 +155,1142 @@
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