Checkpoint 2
This commit is contained in:
Johnny Fernandes
+69
-63
@@ -10,7 +10,7 @@ EXTERNPROTO "../protos/Sheep.proto"
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# World
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WorldInfo {
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info [
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"RL-Based Autonomous Shepherd Robot"
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"Autonomous Shepherd Robot (Strömbom)"
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"Group G25"
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]
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title "Shepherd Herding"
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@@ -106,19 +106,26 @@ Solid { translation -2.5 -15 0.84 children [ Shape { appearance USE CAP geometry
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Solid { translation 14 -15 0.40 children [ Shape { appearance USE STONE_A geometry Box { size 2.0 0.16 0.80 } } ] boundingObject Box { size 2.0 0.16 0.80 } }
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Solid { translation 14 -15 0.84 children [ Shape { appearance USE CAP geometry Box { size 2.1 0.26 0.07 } } ] boundingObject Box { size 2.1 0.26 0.07 } }
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# Gate posts
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Solid { translation 10 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
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Solid { translation 13 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
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# Outer gate (wooden, slightly ajar, Z-brace)
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Solid { translation 11.5 -15.08 0.55 rotation 0 0 1 0.25 children [
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Solid { translation 10 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] }
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Solid { translation 13 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] }
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# Outer gate — fully open, hinged on the west gate post. Modeled as a swung-back
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# wooden gate parallel to the south wall, on the west side, so the 3m corridor
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# between gate posts (x=10..13, y=-15) is unobstructed.
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Solid { translation 8.6 -15.05 0.55 rotation 0 0 1 0 children [
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Shape { appearance USE WOOD geometry Box { size 2.80 0.05 1.00 } }
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Transform { translation 0 0.02 0 rotation 0 1 0 0.34 children [ Shape { appearance DEF FPOST PBRAppearance { baseColor 0.35 0.22 0.10 roughness 0.90 } geometry Box { size 2.97 0.04 0.06 } } ] }
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# FPOST appearance DEF lives here so the external pen below can USE it.
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Transform { translation 0 0.02 0 rotation 0 1 0 0.34 children [
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Shape { appearance DEF FPOST PBRAppearance { baseColor 0.35 0.22 0.10 roughness 0.90 } geometry Box { size 2.97 0.04 0.06 } }
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] }
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] boundingObject Box { size 2.80 0.08 1.00 } }
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# ==================== QUARANTINE PEN (wooden post-and-rail fence, inside field) ====================
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# Flow: main field → inner gate → quarantine area → outer gate → outside
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# ==================== EXTERNAL PEN (south of field, accessed through south-wall gate) ====================
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# Flow: main field → south-wall gate (x ∈ [10, 13], y = -15) → external pen
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# The pen is a wooden post-and-rail rectangle south of the field, x ∈ [10, 13],
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# y ∈ [-22, -15], open on the north side (the gate hole is the entrance).
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# West wall (x=10, ~7m along Y)
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Solid { translation 10 -11.46 0.55 children [
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# Pen west wall (x=10, y from -22 to -15, length 7m)
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Solid { translation 10 -18.5 0.55 children [
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Transform { translation 0 -3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 0 -1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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@@ -130,8 +137,8 @@ Solid { translation 10 -11.46 0.55 children [
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Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 0.14 6.92 0.04 } } ] }
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] boundingObject Box { size 0.14 6.92 1.10 } }
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# East wall (x=13)
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Solid { translation 13 -11.46 0.55 children [
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# Pen east wall (x=13, y from -22 to -15, length 7m)
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Solid { translation 13 -18.5 0.55 children [
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Transform { translation 0 -3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 0 -1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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@@ -143,39 +150,50 @@ Solid { translation 13 -11.46 0.55 children [
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Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 0.14 6.92 0.04 } } ] }
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] boundingObject Box { size 0.14 6.92 1.10 } }
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# North wall - open entrance (no wall, just corner posts)
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Solid { translation 10 -8 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] boundingObject Box { size 0.12 0.12 1.10 } }
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Solid { translation 13 -8 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] boundingObject Box { size 0.12 0.12 1.10 } }
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# Pen south wall (y=-22, x from 10 to 13, length 3m, closes the back of the pen)
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Solid { translation 11.5 -22 0.55 children [
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Transform { translation -1.5 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 1.5 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Transform { translation 0 0 -0.38 children [ Shape { appearance USE WOOD geometry Box { size 2.92 0.06 0.08 } } ] }
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Transform { translation 0 0 -0.05 children [ Shape { appearance USE WOOD geometry Box { size 2.92 0.06 0.08 } } ] }
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Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 2.92 0.06 0.08 } } ] }
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Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 2.92 0.14 0.04 } } ] }
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] boundingObject Box { size 2.92 0.14 1.10 } }
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# Pen north corner posts at the gate opening (no wall — sheep enter here from the field)
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Solid { translation 10 -15.0 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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Solid { translation 13 -15.0 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
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# Corner pillars
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Solid { translation 15 15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
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Solid { translation 15 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
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Solid { translation -15 15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
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Solid { translation -15 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] boundingObject Box { size 0.44 0.44 1.12 } }
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Solid { translation 15 15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] }
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Solid { translation 15 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] }
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Solid { translation -15 15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] }
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Solid { translation -15 -15 0.56 children [ Shape { appearance USE STONE_B geometry Box { size 0.44 0.44 1.12 } } Shape { appearance USE CAP geometry Box { size 0.54 0.54 0.08 } } ] }
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# Mid-pillars every 5 m — East
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Solid { translation 15 10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 15 5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 15 0 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 15 -5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 15 -10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 15 10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 15 5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 15 0 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 15 -5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 15 -10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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# West
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Solid { translation -15 10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -15 5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -15 0 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -15 -5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -15 -10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -15 10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -15 5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -15 0 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -15 -5 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -15 -10 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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# North
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Solid { translation 10 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 5 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 0 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -5 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -10 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 10 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 5 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 0 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -5 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -10 15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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# South
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Solid { translation 5 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 0 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -5 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation -10 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] boundingObject Box { size 0.34 0.34 1.06 } }
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Solid { translation 5 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation 0 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -5 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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Solid { translation -10 -15 0.53 children [ Shape { appearance USE STONE_B geometry Box { size 0.34 0.34 1.06 } } Shape { appearance USE CAP geometry Box { size 0.44 0.44 0.07 } } ] }
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# ==================== BARN 1 — Gambrel/Dutch style (NE, outside fence) ====================
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# Body 10×7×4, weathered gray-brown wood, gambrel roof, large double doors
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@@ -503,28 +521,16 @@ ShepherdDog {
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}
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# ==================== SHEEP ====================
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Sheep {
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translation 3 2 0.5
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name "sheep1"
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controller "sheep"
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}
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Sheep {
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translation 3 -2 0.5
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name "sheep2"
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controller "sheep"
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}
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Sheep {
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translation 4 0 0.5
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name "sheep3"
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controller "sheep"
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}
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# Sheep {
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# translation 3.5 1 0.5
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# name "sheep4"
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# controller "sheep"
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# }
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# Sheep {
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# translation 3.5 -1 0.5
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# name "sheep5"
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# controller "sheep"
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# }
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# Up to 10 sheep, scattered through the field's central/north zone. Comment
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# out trailing slots to test smaller flock sizes; the dog policy is trained
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# to handle 1..10 sheep so any prefix works.
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Sheep { translation 3.0 2.0 0.5 name "sheep1" controller "sheep" }
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Sheep { translation 3.0 -2.0 0.5 name "sheep2" controller "sheep" }
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Sheep { translation 4.0 0.0 0.5 name "sheep3" controller "sheep" }
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Sheep { translation -3.0 4.0 0.5 name "sheep4" controller "sheep" }
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Sheep { translation -5.0 -2.0 0.5 name "sheep5" controller "sheep" }
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Sheep { translation 6.0 5.0 0.5 name "sheep6" controller "sheep" }
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Sheep { translation -6.0 6.0 0.5 name "sheep7" controller "sheep" }
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Sheep { translation 0.0 8.0 0.5 name "sheep8" controller "sheep" }
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Sheep { translation -8.0 0.0 0.5 name "sheep9" controller "sheep" }
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Sheep { translation 7.0 -4.0 0.5 name "sheep10" controller "sheep" }
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