This objective appears after you decide what to do with Squint - kill him or help him escape. Regardless of your choice, you will receive the sensors and then have to decide who to give them to. Although the results do not change the game dramatically here and now, there are several points that can affect the further development of events.
If you give the sensors to Richter, he will explain that it will be bad if the military gets them, because they can use them to compromise stalkers. He will also inform you that the Soldier is an IPSF technician, and you need to get into the sphere - a large domed building in the Zone.
The main difference is that Richter will give you a code that opens the door with a combination lock at the end of the tunnel with acid stains so that you can get into the Sphere. This seems like a better choice than Zotov's plan, which involves entering the guarded area through the side gate. However, in the end, both routes lead to the same place, only in different ways. Zotov's plan also leads through the acid tunnel.
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This choice will also affect the further development of events, when you start looking for Nestor - the name you learned from the Soldier. Richter will send you to the containment center to talk to people and get the key to the Northern checkpoint. Zotov will direct you to the Western checkpoint. Both routes lead to the next part of the map, but in different ways and with different missions. In general, there will be differences in several tasks, but then the general narrative line will close.
If you give the sensors to Zotov, he, like Richter, will say that the Soldier works as an IPSF technician in the Sphere. The mission will unfold almost the same as if you gave the sensors to Richter, as you need to infiltrate the Sphere base in the Zone to meet the Soldier.
However, if you give the sensors to Zotov, he will have his own "man inside" who will help you get through the side gate. This path is more open than Richter's route, as you will have to sneak through the base instead of going under it. But in the end, you will still use Richter's option to escape. So, both plans are essentially the same, but with minor differences.
After you get out of the Sphere, you will have to look for Nestor, and Zotov will suggest crossing the pontoon bridge on the western side of the Small Zone. Richter will send you through the Northern Checkpoint. Both options will lead to the desired part of the map.
Thus, the main difference is one unique mission from stalkers or military, and nothing more.