The Waterbury woman accused of holding her stepson captive for two decades will be allowed to return to the home where police said it happened.

A judge made that decision Friday at Waterbury Superior Court where Kimberly Sullivan appeared for the first time since March 28. Sullivan's case was in court after that date, but her physical presence was excused with just her attorney attending those hearings. Friday afternoon marked just over six months since she stood before a judge.

During the hearing, the judge had been expected to take up three motions but instead ruled on just one, the defense's request that Sullivan be allowed to go back to her house on Blake Street.

"When this arrest happened, the protective order listed the accuser's address as my client's home, so this was really just clearing that up. By taking that off the protective order, she now can go back to her home without fear of arrest," explained Sullivan's attorney, Ioannis Kaloidis.

Sullivan has pleaded not guilty to multiple felony charges including kidnapping, assault and cruelty to persons. Sullivan is out on a $300,000 bond with court-ordered GPS monitoring.

That ankle bracelet is the focus of another motion. The defense wants it removed and will argue to do so at her next appearance.

"It's really an inconvenience, and it's unnecessary, " Kaloidis told reporters after the hearing. "She doesn't pose a risk to anyone. She hasn't committed a crime in her life. Just because these allegations sound bad, doesn't mean anything."

MORE: 'We see her.' Victim's family faces Waterbury captivity suspect in court as state seeks home confinement

The case has drawn world-wide attention because of the extent of what police said occurred inside the "house of horrors" and how they uncovered the alleged abuse. Sullivan is accused of locking her stepson in an 8-by-9-foot room for 20 years with barely any food or water and no toilet. Police said it started when he was 11 after Sullivan and her husband, who died last year, pulled him out of elementary school. Police began investigating after responding to a fire at Sullivan’s home on Feb. 17. Her stepson, who was 31 at the time, later told police he started the fire in a bid to escape. When firefighters rescued him, police said he weighed just 68 pounds.

Sullivan's stepson, who's been known publicly as "S," has a new name and address. The prosecution wants to shield both from Sullivan before turning over S's medical records to the defense. Kaloidis is objecting to that motion from the state.

"We believe there is absolutely no reason to shield the accuser from my client. In fact, my client has a right to confrontation, has a right to confront her accuser in a public setting," Kaloidis said. "From an investigation standpoint, if you don't know the name of the person accusing you, how are you going to fully investigate their background, their history, the statements they may be making?" The judge will hear arguments on both motions on Oct. 31.

ADDITIONAL REPORTING:

CT lawmakers call for investigation into child welfare authorities after Waterbury man allegedly imprisoned for decades