diff --git a/LinearAlgebra b/LinearAlgebra
index a25a8be..2bad384 160000
--- a/LinearAlgebra
+++ b/LinearAlgebra
@@ -1 +1 @@
-Subproject commit a25a8be0670b8e3a53db38de9772cb04d73e8a5b
+Subproject commit 2bad384611e7d999b4c421781dab8f1c4543fe93
diff --git a/NetworkPerception.cpp b/NetworkPerception.cpp
index 20be813..5f53c17 100644
--- a/NetworkPerception.cpp
+++ b/NetworkPerception.cpp
@@ -124,26 +124,19 @@ void NetworkPerception::ReceiveSphere(unsigned char *data, Roboid *roboid) {
 
   roboid->perception->AddTrackedObject(this, position, Quaternion::identity,
                                        0x81, 0x81, networkId);
-  // roboid->networkSync->SendText("Received Sphere\n\0");
-  // roboid->networkSync->SendInt(position.distance * 100);
-  // if ((float)position.horizontalAngle == 0)
-  //   roboid->networkSync->SendText("Zero hor angle\0");
-  // if ((float)position.verticalAngle == 0)
-  //   roboid->networkSync->SendText("Zero vertical angle\0");
 }
 
 void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) {
   unsigned char networkId = data[1];
   unsigned char objectId = data[2];
   unsigned char poseType = data[3];
-  // printf("My network id == %d\n", roboid->networkSync->networkId);
+
   if (networkId == roboid->networkSync->networkId)
     networkId = 0x00;
-  // printf("Received pose message [%d/%d]\n", networkId, objectId);
 
   if (objectId == 0x80)
     return ReceivePlane(data, roboid);
-  else if (objectId = 0x81)
+  else if (objectId == 0x81)
     return ReceiveSphere(data, roboid);
 
   if ((poseType & NetworkSync::Pose_Position) != 0) {
@@ -153,20 +146,21 @@ void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) {
     } else {
       Vector3 roboidPosition = roboid->GetPosition();
 
-      float distance = Vector3::Distance(roboidPosition, worldPosition);
-      if (roboid->perception->IsInteresting(distance) == false) {
-        // printf("  not interesting\n");
-        return;
-      }
+      // float distance = Vector3::Distance(roboidPosition, worldPosition);
+      // if (roboid->perception->IsInteresting(distance) == false) {
+      //   // printf("  not interesting\n");
+      //   return;
+      // }
 
       Quaternion roboidOrientation = roboid->GetOrientation();
       Vector3 localPosition = Quaternion::Inverse(roboidOrientation) *
                               (worldPosition - roboidPosition);
+      Spherical position = Spherical(localPosition);
 
-      float angle =
-          Vector3::SignedAngle(Vector3::forward, localPosition, Vector3::up);
+      // float angle =
+      //     Vector3::SignedAngle(Vector3::forward, localPosition, Vector3::up);
 
-      Polar position = Polar(distance, angle); // Polar(angle, distance);
+      // Polar position = Polar(distance, angle); // Polar(angle, distance);
       /*
       Vector2 worldPosition2D = Vector2(worldPosition);
 
@@ -185,19 +179,18 @@ void NetworkPerception::ReceivePoseMsg(unsigned char *data, Roboid *roboid) {
       //        worldPosition.x, worldPosition.z, localPosition.x,
       //        localPosition.z, distance, angle);
 
+      // InterestingThing *thing = roboid->perception->AddTrackedObject(
+      //     this, networkId, objectId, position);
       InterestingThing *thing = roboid->perception->AddTrackedObject(
-          this, networkId, objectId, position);
-      if (thing->networkId != 0x00 && thing->type == 0xFF) {
-        // Unknown thing
-        roboid->networkSync->SendInvestigateThing(thing);
-      }
+          this, position, Quaternion::identity, 0x81, 0x81, networkId);
+      // if (thing->networkId != 0x00 && thing->type == 0xFF) {
+      //   // Unknown thing
+      //   roboid->networkSync->SendInvestigateThing(thing);
+      // }
     }
   }
 }
 
-// HACK!!!
-// #include "../../../src/LighthouseTracker.h"
-
 void NetworkPerception::ReceiveTypedObject(unsigned char *data,
                                            Roboid *roboid) {
   unsigned char objectType = data[1];
diff --git a/NetworkSync.cpp b/NetworkSync.cpp
index a044b1c..4292514 100644
--- a/NetworkSync.cpp
+++ b/NetworkSync.cpp
@@ -175,10 +175,6 @@ void NetworkSync::PublishClient() {
 #ifdef RC_DEBUG
   printf("Sent new Client\n");
 #endif
-
-  // PublishModel(roboid);
-  // if (roboid->actuation != nullptr)
-  //   PublishRelativeThing(roboid->actuationRoot, false);
 }
 
 void NetworkSync::PublishTrackedObjects(Roboid *roboid,
@@ -188,12 +184,10 @@ void NetworkSync::PublishTrackedObjects(Roboid *roboid,
     InterestingThing *obj = objects[objIx];
     if (obj == nullptr)
       continue;
-    // if (obj->sensor->type == Thing::ExternalType)
-    //   continue;
 
-    if (obj->confidence > 0) {
+    if (obj->confidence > 0)
       PublishTrackedObject(roboid, obj);
-    }
+
     n++;
   }
 }