diff --git a/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.actions.txt b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.actions.txt
new file mode 100644
index 00000000..84185f66
--- /dev/null
+++ b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.actions.txt
@@ -0,0 +1,6 @@
+RotateObject,clockwise=False,objectId=tool
+RotateObject,clockwise=False,objectId=tool
+RotateObject,clockwise=False,objectId=tool
+RotateObject,clockwise=True,objectId=tool
+RotateObject,clockwise=False,objectId=tool
+RotateObject,clockwise=False,objectId=tool
diff --git a/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.level1.outputs.json b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.level1.outputs.json
new file mode 100644
index 00000000..75f0a070
--- /dev/null
+++ b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.level1.outputs.json
@@ -0,0 +1,72 @@
+[
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 0,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 1,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": null,
+        "step_number": 2,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": null,
+        "step_number": 3,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 4,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 5,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": null,
+        "step_number": 6,
+        "structural_objects_count": 0
+    }
+]
diff --git a/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.level2.outputs.json b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.level2.outputs.json
new file mode 100644
index 00000000..75f0a070
--- /dev/null
+++ b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.level2.outputs.json
@@ -0,0 +1,72 @@
+[
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 0,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 1,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": null,
+        "step_number": 2,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": null,
+        "step_number": 3,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 4,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": null,
+        "step_number": 5,
+        "structural_objects_count": 0
+    },
+    {
+        "head_tilt": 10,
+        "objects_count": 0,
+        "position_x": null,
+        "position_z": null,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": null,
+        "step_number": 6,
+        "structural_objects_count": 0
+    }
+]
diff --git a/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.oracle.outputs.json b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.oracle.outputs.json
new file mode 100644
index 00000000..7e8d0a24
--- /dev/null
+++ b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.oracle.outputs.json
@@ -0,0 +1,198 @@
+[
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 0.0,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 0.0,
+        "step_number": 0,
+        "structural_objects_count": 5
+    },
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 355,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 0.0,
+        "step_number": 1,
+        "structural_objects_count": 5
+    },
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 355,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": 0.0,
+        "step_number": 2,
+        "structural_objects_count": 5
+    },
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 355,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": 0.0,
+        "step_number": 3,
+        "structural_objects_count": 5
+    },
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 0.0,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 0.0,
+        "step_number": 4,
+        "structural_objects_count": 5
+    },
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 355,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "SUCCESSFUL",
+        "rotation_y": 0.0,
+        "step_number": 5,
+        "structural_objects_count": 5
+    },
+    {
+        "head_tilt": 10,
+        "objects": [
+            {
+                "id": "target_soccer_ball",
+                "mass": 2.0,
+                "position_x": 0.0,
+                "position_z": 10.0,
+                "rotation_y": 0.0,
+                "shape": "ball"
+            },
+            {
+                "id": "tool",
+                "mass": 6.0,
+                "position_x": 0.0,
+                "position_z": 7.4,
+                "rotation_y": 355,
+                "shape": "tool"
+            }
+        ],
+        "objects_count": 2,
+        "position_x": 0.0,
+        "position_z": 7.0,
+        "return_status": "OBSTRUCTED",
+        "rotation_y": 0.0,
+        "step_number": 6,
+        "structural_objects_count": 5
+    }
+]
diff --git a/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.scene.json b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.scene.json
new file mode 100644
index 00000000..88bf262c
--- /dev/null
+++ b/integration_tests/data/218.soccer_ball_obstruct_rotate_object_tool.scene.json
@@ -0,0 +1,555 @@
+{
+  "goal": {
+    "action_list": [],
+    "category": "retrieval",
+    "description": "Find and pick up the small light black white rubber ball.",
+    "last_step": 5300,
+    "metadata": {
+      "target": {
+        "id": "target_soccer_ball"
+      }
+    }
+  },
+  "holes": [],
+  "isometric": false,
+  "lava": [
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+      "z": 8
+    },
+    {
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+      "z": 9
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+    {
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+    }
+  ],
+  "name": "soccer ball should obstruct RotateObject on tool",
+  "objects": [
+    {
+      "id": "target_soccer_ball",
+      "type": "soccer_ball",
+      "mass": 2.0,
+      "salientMaterials": ["rubber"],
+      "moveable": true,
+      "pickupable": true,
+      "shows": [
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+          }
+        }
+      ],
+      "materials": []
+    },
+    {
+      "id": "tool",
+      "type": "tool_hooked_1_00_x_8_00",
+      "materials": ["UnityAssetStore/YughuesFreeMetalMaterials/Materials/M_YFMM_15"],
+      "shows": [
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+          "scale": {
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+            "y": 1,
+            "z": 1
+          }
+        }
+      ]
+    }
+  ],
+  "screenshot": false,
+  "version": 2,
+  "ceilingMaterial": "AI2-THOR/Materials/Walls/Drywall4Tiled",
+  "floorMaterial": "AI2-THOR/Materials/Wood/DarkWood2",
+  "floorTextures": [],
+  "intuitivePhysics": false,
+  "isometricFrontRight": false,
+  "performerStart": {
+    "position": {
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+      "y": 0,
+      "z": 7
+    },
+    "rotation": {
+      "x": 10,
+      "y": 0,
+      "z": 0
+    }
+  },
+  "roomDimensions": {
+    "x": 23.0,
+    "y": 3.0,
+    "z": 25.0
+  },
+  "wallMaterial": "Custom/Materials/RedDrywallMCS"
+}