diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index 2e15712..fa042f9 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -152,6 +152,9 @@ void NetworkPerception::ReceivePoseMsg(unsigned char* data, Roboid* roboid) {
     // printf("Received PoseMsg [%d/%d]\n", networkId, objectId);
 #endif
 
+  InterestingThing* thing =
+      roboid->perception->FindTrackedObject(networkId, objectId);
+
   SwingTwist16 roboidOrientation = roboid->GetOrientation();
   Spherical16 position = Spherical16::zero;
   SwingTwist16 orientation = SwingTwist16::identity;
@@ -179,6 +182,8 @@ void NetworkPerception::ReceivePoseMsg(unsigned char* data, Roboid* roboid) {
       //        localPosition.Up(), localPosition.Forward());
       // printf("  position: %f (%f %f)\n", position.distance,
       //        position.horizontal.InDegrees(), position.vertical.InDegrees());
+      if (thing != nullptr)
+        thing->position = position;
     }
   }
 
@@ -193,14 +198,19 @@ void NetworkPerception::ReceivePoseMsg(unsigned char* data, Roboid* roboid) {
       roboid->SetOrientation(worldOrientation);
     } else {
       orientation = SwingTwist16::Inverse(roboidOrientation) * worldOrientation;
+      if (thing != nullptr) {
+        thing->orientation = orientation;
+      }
     }
   }
 
-  InterestingThing* thing = roboid->perception->AddTrackedObject(
-      this, position, orientation, 0x81, 0x81, networkId);
-  if (thing->networkId != 0x00 && thing->type == 0xFF) {
-    // Unknown thing
-    roboid->networkSync->SendInvestigate(thing);
+  if (thing == nullptr) {
+    thing = roboid->perception->AddTrackedObject(this, position, orientation,
+                                                 0xFF, objectId, networkId);
+    if (thing->networkId != 0x00) {
+      // Unknown thing
+      roboid->networkSync->SendInvestigate(thing);
+    }
   }
 }