diff --git "a/scenes/bicycle/test/bicycle_test_linear_linear_23_config.json" "b/scenes/bicycle/test/bicycle_test_linear_linear_23_config.json"
--- "a/scenes/bicycle/test/bicycle_test_linear_linear_23_config.json"
+++ "b/scenes/bicycle/test/bicycle_test_linear_linear_23_config.json"
@@ -11,11 +11,11 @@
   "scene_config_directory": "output/scenes",
   "video_directory": "output/videos",
   "scene_index": 23,
-  "scene_index_offset": 0,
-  "seed": 2386645548,
+  "scene_index_offset": 20,
+  "seed": 1540988775,
   "fps": 32,
   "duration": 5.0,
-  "number_of_videos": 50,
+  "number_of_videos": 10,
   "split": "bicycle_test_linear_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,
@@ -110,1152 +111,1165 @@
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       "mesh": "Cylinder",
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+      "material": "Metal",
+      "size": "small",
+      "color": "red",
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+      "location": {
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+        "z": 0.25
+      },
+      "always_within_boundaries": true
+    },
+    {
+      "mesh": "Cube",
+      "material": "Metal",
       "size": "large",
-      "color": "purple",
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+      "color": "blue",
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       "location": {
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+        "x": 1.3782251685422313,
+        "y": -0.656034189200918,
         "z": 0.5
       },
       "always_within_boundaries": true
     },
     {
-      "mesh": "Cylinder",
+      "mesh": "Sphere",
       "material": "Rubber",
-      "size": "small",
-      "color": "brown",
-      "angle": 6.07971157921656,
+      "size": "large",
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+          4,
+          1
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          3
         ]
       ],
       "159": [
@@ -13107,8 +20617,8 @@
           2
         ],
         [
-          1,
-          0
+          0,
+          3
         ],
         [
           1,
@@ -13117,6 +20627,22 @@
         [
           1,
           3
+        ],
+        [
+          4,
+          0
+        ],
+        [
+          4,
+          1
+        ],
+        [
+          4,
+          2
+        ],
+        [
+          4,
+          3
         ]
       ]
     },