#VRML_SIM R2025a utf8

EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackground.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/objects/floors/protos/UnevenTerrain.proto"
EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2025a/projects/appearances/protos/Grass.proto"
EXTERNPROTO "../protos/ShepherdDog.proto"
EXTERNPROTO "../protos/Sheep.proto"

# World
WorldInfo {
  info [
    "Autonomous Shepherd Robot (Strömbom)"
    "Group G25"
  ]
  title "Shepherd Herding (Round)"
  ERP 0.62
  basicTimeStep 16
  contactProperties [
    ContactProperties {
      coulombFriction [
        12
      ]
      softCFM 1e-05
    }
  ]
}

# Viewpoint
DEF VIEWPOINT Viewpoint {
  position 4.34 -100.99 41.73
  orientation 0.199 -0.190 -0.961 4.624
  fieldOfView 0.785
}

# Background
Background {
  skyColor [0.55 0.75 0.95]
}
# Single sun (diagonal from SW)
DirectionalLight {
  ambientIntensity 1
  direction -0.3 0.5 -0.85
  color 1 0.98 0.92
  intensity 2.5
  castShadows TRUE
}

# Grass terrain
UnevenTerrain {
  rotation 0 0 1 -1.5708
  size 100 100 0.3
  xDimension 50
  yDimension 50
  appearance Grass {
    colorOverride 0.78 0.88 0.68
    textureTransform TextureTransform {
      scale 100 100
    }
  }
  perlinNOctaves 4
}

# ==================== APPEARANCES ====================
Transform {
  children [
    Shape { appearance DEF STONE_A    PBRAppearance { baseColor 0.48 0.45 0.40 roughness 0.95 metalness 0 } }
    Shape { appearance DEF STONE_B    PBRAppearance { baseColor 0.36 0.33 0.29 roughness 0.95 metalness 0 } }
    Shape { appearance DEF STONE_C    PBRAppearance { baseColor 0.58 0.55 0.50 roughness 0.90 metalness 0 } }
    Shape { appearance DEF CAP        PBRAppearance { baseColor 0.54 0.51 0.46 roughness 0.80 metalness 0 } }
    Shape { appearance DEF BARN_RED   PBRAppearance { baseColor 0.62 0.18 0.12 roughness 0.80 metalness 0 } }
    Shape { appearance DEF BARN_ROOF  PBRAppearance { baseColor 0.28 0.20 0.13 roughness 0.72 metalness 0 } }
    Shape { appearance DEF WOOD       PBRAppearance { baseColor 0.48 0.32 0.16 roughness 0.90 metalness 0 } }
    Shape { appearance DEF TRUNK      PBRAppearance { baseColor 0.38 0.24 0.11 roughness 0.90 metalness 0 } }
    Shape { appearance DEF LEAF_A     PBRAppearance { baseColor 0.22 0.52 0.16 roughness 0.85 metalness 0 } }
    Shape { appearance DEF LEAF_B     PBRAppearance { baseColor 0.16 0.42 0.10 roughness 0.85 metalness 0 } }
    Shape { appearance DEF LEAF_C     PBRAppearance { baseColor 0.30 0.60 0.20 roughness 0.80 metalness 0 } }
    Shape { appearance DEF STRAW      PBRAppearance { baseColor 0.85 0.75 0.35 roughness 0.95 metalness 0 } }
    Shape { appearance DEF HAT        PBRAppearance { baseColor 0.50 0.35 0.18 roughness 0.85 metalness 0 } }
    Shape { appearance DEF SHIRT      PBRAppearance { baseColor 0.60 0.30 0.30 roughness 0.80 metalness 0 } }
    Shape { appearance DEF PANTS      PBRAppearance { baseColor 0.25 0.25 0.30 roughness 0.80 metalness 0 } }
    Shape { appearance DEF DOOR_MAT   PBRAppearance { baseColor 0.55 0.38 0.20 roughness 0.72 metalness 0 } }
    Shape { appearance DEF GLASS      PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } }
    Shape { appearance DEF HAY        PBRAppearance { baseColor 0.82 0.72 0.32 roughness 0.95 metalness 0 } }
  ]
}
DEF TRIM       PBRAppearance { baseColor 0.90 0.88 0.82 roughness 0.70 metalness 0 }

# ==================== CIRCULAR STONE WALL (R=15 m) ====================

Solid { translation 15.00 0.00 0.40 rotation 0 0 1 -1.5708 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 15.00 0.00 0.84 rotation 0 0 1 -1.5708 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation 14.10 5.13 0.40 rotation 0 0 1 -1.2217 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 14.10 5.13 0.84 rotation 0 0 1 -1.2217 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation 11.49 9.64 0.40 rotation 0 0 1 -0.8727 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 11.49 9.64 0.84 rotation 0 0 1 -0.8727 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation 7.50 12.99 0.40 rotation 0 0 1 -0.5236 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 7.50 12.99 0.84 rotation 0 0 1 -0.5236 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation 2.60 14.77 0.40 rotation 0 0 1 -0.1745 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 2.60 14.77 0.84 rotation 0 0 1 -0.1745 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -2.60 14.77 0.40 rotation 0 0 1 0.1745 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -2.60 14.77 0.84 rotation 0 0 1 0.1745 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -7.50 12.99 0.40 rotation 0 0 1 0.5236 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -7.50 12.99 0.84 rotation 0 0 1 0.5236 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -11.49 9.64 0.40 rotation 0 0 1 0.8727 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -11.49 9.64 0.84 rotation 0 0 1 0.8727 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -14.10 5.13 0.40 rotation 0 0 1 1.2217 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -14.10 5.13 0.84 rotation 0 0 1 1.2217 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -15.00 0.00 0.40 rotation 0 0 1 1.5708 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -15.00 0.00 0.84 rotation 0 0 1 1.5708 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -14.10 -5.13 0.40 rotation 0 0 1 1.9199 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -14.10 -5.13 0.84 rotation 0 0 1 1.9199 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -11.49 -9.64 0.40 rotation 0 0 1 2.2689 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -11.49 -9.64 0.84 rotation 0 0 1 2.2689 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -7.50 -12.99 0.40 rotation 0 0 1 2.6180 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation -7.50 -12.99 0.84 rotation 0 0 1 2.6180 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation -3.37 -14.62 0.40 rotation 0 0 1 2.9671 children [ Shape { appearance USE STONE_A geometry Box { size 3.65 0.16 0.80 } } ] boundingObject Box { size 3.65 0.16 0.80 } }
Solid { translation -3.37 -14.62 0.84 rotation 0 0 1 2.9671 children [ Shape { appearance USE CAP geometry Box { size 3.7 0.26 0.07 } } ] boundingObject Box { size 3.7 0.26 0.07 } }
Solid { translation 3.37 -14.62 0.40 rotation 0 0 1 3.3161 children [ Shape { appearance USE STONE_A geometry Box { size 3.65 0.16 0.80 } } ] boundingObject Box { size 3.65 0.16 0.80 } }
Solid { translation 3.37 -14.62 0.84 rotation 0 0 1 3.3161 children [ Shape { appearance USE CAP geometry Box { size 3.7 0.26 0.07 } } ] boundingObject Box { size 3.7 0.26 0.07 } }
Solid { translation 7.50 -12.99 0.40 rotation 0 0 1 3.6652 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 7.50 -12.99 0.84 rotation 0 0 1 3.6652 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation 11.49 -9.64 0.40 rotation 0 0 1 4.0143 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 11.49 -9.64 0.84 rotation 0 0 1 4.0143 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }
Solid { translation 14.10 -5.13 0.40 rotation 0 0 1 4.3633 children [ Shape { appearance USE STONE_A geometry Box { size 5.21 0.16 0.80 } } ] boundingObject Box { size 5.21 0.16 0.80 } }
Solid { translation 14.10 -5.13 0.84 rotation 0 0 1 4.3633 children [ Shape { appearance USE CAP geometry Box { size 5.2 0.26 0.07 } } ] boundingObject Box { size 5.2 0.26 0.07 } }

# Gate posts
Solid { translation -1.57 -14.92 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 } } ] }
Solid { translation 1.57 -14.92 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 } } ] }
# Outer gate — swung-back beside west gate post
Solid { translation -2.97 -14.92 0.55 rotation 0 0 1 0 children [
  Shape { appearance USE WOOD geometry Box { size 2.80 0.05 1.00 } }
  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 } }
  ] }
] boundingObject Box { size 2.80 0.08 1.00 } }

# Pillars between wall sections
Solid { translation 14.97 2.64 0.53 rotation 0 0 1 0.9599 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 } } ] }
Solid { translation 13.16 7.60 0.53 rotation 0 0 1 1.3090 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 } } ] }
Solid { translation 9.77 11.64 0.53 rotation 0 0 1 1.6581 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 } } ] }
Solid { translation 5.20 14.28 0.53 rotation 0 0 1 2.0071 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 } } ] }
Solid { translation 0.00 15.20 0.53 rotation 0 0 1 2.3562 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 } } ] }
Solid { translation -5.20 14.28 0.53 rotation 0 0 1 2.7053 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 } } ] }
Solid { translation -9.77 11.64 0.53 rotation 0 0 1 3.0543 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 } } ] }
Solid { translation -13.16 7.60 0.53 rotation 0 0 1 3.4034 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 } } ] }
Solid { translation -14.97 2.64 0.53 rotation 0 0 1 3.7525 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 } } ] }
Solid { translation -14.97 -2.64 0.53 rotation 0 0 1 4.1015 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 } } ] }
Solid { translation -13.16 -7.60 0.53 rotation 0 0 1 4.4506 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 } } ] }
Solid { translation -9.77 -11.64 0.53 rotation 0 0 1 4.7997 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 } } ] }
Solid { translation -5.20 -14.28 0.53 rotation 0 0 1 5.1487 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 } } ] }
Solid { translation 5.20 -14.28 0.53 rotation 0 0 1 5.8469 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 } } ] }
Solid { translation 9.77 -11.64 0.53 rotation 0 0 1 6.1959 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 } } ] }
Solid { translation 13.16 -7.60 0.53 rotation 0 0 1 6.5450 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 } } ] }
Solid { translation 14.97 -2.64 0.53 rotation 0 0 1 6.8941 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 } } ] }

# ==================== EXTERNAL PEN (south of round field gate) ====================
# Pen west wall
Solid { translation -1.57 -18.5 0.55 children [
  Transform { translation 0 -3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 -1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 0 -0.38 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
  Transform { translation 0 0 -0.05 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
  Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
  Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 0.14 6.92 0.04 } } ] }
] boundingObject Box { size 0.14 6.92 1.10 } }
# Pen east wall
Solid { translation 1.57 -18.5 0.55 children [
  Transform { translation 0 -3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 -1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 1.73 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 3.46 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 0 -0.38 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
  Transform { translation 0 0 -0.05 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
  Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 0.06 6.92 0.08 } } ] }
  Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 0.14 6.92 0.04 } } ] }
] boundingObject Box { size 0.14 6.92 1.10 } }
# Pen south wall
Solid { translation 0.00 -22 0.55 children [
  Transform { translation -1.52 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation  0   0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation  1.52 0 0 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
  Transform { translation 0 0 -0.38 children [ Shape { appearance USE WOOD geometry Box { size 3.16 0.06 0.08 } } ] }
  Transform { translation 0 0 -0.05 children [ Shape { appearance USE WOOD geometry Box { size 3.16 0.06 0.08 } } ] }
  Transform { translation 0 0 0.30 children [ Shape { appearance USE WOOD geometry Box { size 3.16 0.06 0.08 } } ] }
  Transform { translation 0 0 0.53 children [ Shape { appearance USE FPOST geometry Box { size 3.16 0.14 0.04 } } ] }
] boundingObject Box { size 3.16 0.14 1.10 } }
# Pen north corner posts at the gate opening
Solid { translation -1.57 -15.0 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }
Solid { translation 1.57 -15.0 0.55 children [ Shape { appearance USE FPOST geometry Box { size 0.12 0.12 1.10 } } ] }

# Gate width: 3.14 m (pen x: [-1.57, 1.57])

# ==================== BARN 1 — Gambrel/Dutch style (NE, outside fence) ====================
# Body 10×7×4, weathered gray-brown wood, gambrel roof, large double doors
Solid {
  translation 18.5 25.49 2
  children [
    Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 10 7 4 } }
    # Gambrel roof
    Transform { translation -3.5 0 3.05 rotation 0 1 0 -0.611 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 3.9 7.2 0.18 } } ] }
    Transform { translation 3.5 0 3.05 rotation 0 1 0 0.611 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 3.9 7.2 0.18 } } ] }
    Transform { translation -1.0 0 4.55 rotation 0 1 0 -0.422 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 2.5 7.2 0.18 } } ] }
    Transform { translation 1.0 0 4.55 rotation 0 1 0 0.422 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 2.5 7.2 0.18 } } ] }
    Transform { translation 0 0 5.04 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.18 0.16 roughness 0.82 metalness 0.02 } geometry Box { size 1.6 7.2 0.22 } } ] }
    # South gable fill
    Transform { translation 0 -3.57 2.40 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 8.8 0.16 0.80 } } ] }
    Transform { translation 0 -3.57 3.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 6.8 0.16 0.70 } } ] }
    Transform { translation 0 -3.57 3.70 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 5.1 0.16 0.60 } } ] }
    Transform { translation 0 -3.57 4.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 4.0 0.16 0.40 } } ] }
    Transform { translation 0 -3.57 4.42 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 2.7 0.16 0.60 } } ] }
    Transform { translation 0 -3.57 4.84 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 0.9 0.16 0.36 } } ] }
    # North gable fill
    Transform { translation 0  3.57 2.40 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 8.8 0.16 0.80 } } ] }
    Transform { translation 0  3.57 3.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 6.8 0.16 0.70 } } ] }
    Transform { translation 0  3.57 3.70 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 5.1 0.16 0.60 } } ] }
    Transform { translation 0  3.57 4.10 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 4.0 0.16 0.40 } } ] }
    Transform { translation 0  3.57 4.42 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 2.7 0.16 0.60 } } ] }
    Transform { translation 0  3.57 4.84 children [ Shape { appearance PBRAppearance { baseColor 0.52 0.42 0.30 roughness 0.92 metalness 0 } geometry Box { size 0.9 0.16 0.36 } } ] }
    # Double barn doors (south face)
    Transform {
      translation 0 -3.51 -0.50
      children [
        Shape { appearance PBRAppearance { baseColor 0.44 0.30 0.14 roughness 0.88 metalness 0 } geometry Box { size 2.8 0.10 3.0 } }
        Transform { rotation 0 0 1  0.83 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.10 0.12 3.75 } } ] }
        Transform { rotation 0 0 1 -0.83 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.10 0.12 3.75 } } ] }
        Transform { translation -1.45 0  0    children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.12 0.14 3.24 } } ] }
        Transform { translation  1.45 0  0    children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 0.12 0.14 3.24 } } ] }
        Transform { translation  0    0  1.62 children [ Shape { appearance PBRAppearance { baseColor 0.34 0.22 0.10 roughness 0.90 metalness 0 } geometry Box { size 3.04 0.14 0.14 } } ] }
      ]
    }
    # Windows
    Transform { translation -3.6 -3.52 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 1.40 0.12 1.10 } } ] }
    Transform { translation  3.6 -3.52 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 1.40 0.12 1.10 } } ] }
    Transform { translation 5.06  2.0 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 0.12 1.20 1.0 } } ] }
    Transform { translation 5.06 -2.0 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.60 0.80 0.95 roughness 0.20 metalness 0.05 } geometry Box { size 0.12 1.20 1.0 } } ] }
    Transform { translation 0 -3.52 3.90 children [ Shape { appearance PBRAppearance { baseColor 0.44 0.30 0.14 roughness 0.88 metalness 0 } geometry Box { size 1.30 0.12 1.00 } } ] }
  ]
  boundingObject Box { size 10 7 7 }
}

# ==================== BARN 3 — Red barn (NE, outside fence, gate facing fence) ====================
# Body 7×9×3.5, red walls, steep dark roof
Solid {
  translation 29.76 9.52 1.75
  rotation 0 0 1 -1.5708
  children [
    Shape { appearance USE BARN_RED geometry Box { size 7 9 3.5 } }
    # Roof
    Transform { translation -2.0 0 3.0 rotation 0 1 0 -0.70 children [ Shape { appearance USE BARN_ROOF geometry Box { size 4.2 9.2 0.20 } } ] }
    Transform { translation 2.0 0 3.0 rotation 0 1 0 0.70 children [ Shape { appearance USE BARN_ROOF geometry Box { size 4.2 9.2 0.20 } } ] }
    Transform { translation 0 0 4.28 children [ Shape { appearance USE BARN_ROOF geometry Box { size 2.0 9.2 0.24 } } ] }
    # South gable fill
    Transform { translation 0 -4.52 2.05 children [ Shape { appearance USE BARN_RED geometry Box { size 6.2 0.16 0.60 } } ] }
    Transform { translation 0 -4.52 2.65 children [ Shape { appearance USE BARN_RED geometry Box { size 4.5 0.16 0.60 } } ] }
    Transform { translation 0 -4.52 3.25 children [ Shape { appearance USE BARN_RED geometry Box { size 2.9 0.16 0.60 } } ] }
    Transform { translation 0 -4.52 3.85 children [ Shape { appearance USE BARN_RED geometry Box { size 1.2 0.16 0.60 } } ] }
    # North gable fill
    Transform { translation 0  4.52 2.05 children [ Shape { appearance USE BARN_RED geometry Box { size 6.2 0.16 0.60 } } ] }
    Transform { translation 0  4.52 2.65 children [ Shape { appearance USE BARN_RED geometry Box { size 4.5 0.16 0.60 } } ] }
    Transform { translation 0  4.52 3.25 children [ Shape { appearance USE BARN_RED geometry Box { size 2.9 0.16 0.60 } } ] }
    Transform { translation 0  4.52 3.85 children [ Shape { appearance USE BARN_RED geometry Box { size 1.2 0.16 0.60 } } ] }
    # Door
    Transform {
      translation 0 -4.52 -0.62
      children [
        Shape { appearance USE DOOR_MAT geometry Box { size 1.70 0.14 2.26 } }
        Transform { translation 0 0 1.22 children [ Shape { appearance USE WOOD geometry Box { size 2.10 0.18 0.26 } } ] }
        Transform { translation -0.90 0  0 children [ Shape { appearance USE WOOD geometry Box { size 0.24 0.18 2.52 } } ] }
        Transform { translation  0.90 0  0 children [ Shape { appearance USE WOOD geometry Box { size 0.24 0.18 2.52 } } ] }
        Transform { translation 0 0 -0.68 children [ Shape { appearance USE WOOD geometry Box { size 1.60 0.12 0.12 } } ] }
        Transform { translation 0 0  0.30 children [ Shape { appearance USE WOOD geometry Box { size 1.60 0.12 0.12 } } ] }
      ]
    }
    # Windows — south face
    Transform { translation -2.2 -4.53 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.80 0.14 0.70 } } ] }
    Transform { translation  2.2 -4.53 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.80 0.14 0.70 } } ] }
    # East-face windows
    Transform { translation 3.52  3.0 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.14 0.80 0.70 } } ] }
    Transform { translation 3.52  0.0 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.14 0.80 0.70 } } ] }
    Transform { translation 3.52 -3.0 0.30 children [ Shape { appearance USE GLASS geometry Box { size 0.14 0.80 0.70 } } ] }
  ]
  boundingObject Box { size 7 9 6 }
}

# ==================== TREES (outside fence) ====================

# Tree A — large oak, SE
Solid {
  translation 20 -18 0
  children [
    Transform { translation 0 0 2.0 children [ Shape { appearance USE TRUNK geometry Cylinder { height 4.0 radius 0.30 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 4.6 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.6 subdivision 4 } } ] }
    Transform { translation  1.2  0.6 5.6 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.9 subdivision 4 } } ] }
    Transform { translation -1.0  0.9 5.3 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.7 subdivision 4 } } ] }
    Transform { translation  0.4 -1.1 5.1 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.5 subdivision 4 } } ] }
    Transform { translation -0.5 -0.4 6.2 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.0 subdivision 4 } } ] }
  ]
}

# Tree B — medium, NE near barn
Solid {
  translation -8 26 0
  children [
    Transform { translation 0 0 1.7 children [ Shape { appearance USE TRUNK geometry Cylinder { height 3.4 radius 0.25 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 3.8 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 2.2 subdivision 4 } } ] }
    Transform { translation  0.9 -0.7 4.7 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.6 subdivision 4 } } ] }
    Transform { translation -0.6  0.8 4.4 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.4 subdivision 4 } } ] }
  ]
}

# Tree C — large, NW
Solid {
  translation -23 20 0
  children [
    Transform { translation 0 0 2.3 children [ Shape { appearance USE TRUNK geometry Cylinder { height 4.6 radius 0.36 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 5.2 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 2.9 subdivision 4 } } ] }
    Transform { translation  1.3  0.9 6.3 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.1 subdivision 4 } } ] }
    Transform { translation -1.1  1.1 6.0 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.9 subdivision 4 } } ] }
    Transform { translation  0.6 -1.3 5.8 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.6 subdivision 4 } } ] }
  ]
}

# Tree D — small, SW
Solid {
  translation -20 -23 0
  children [
    Transform { translation 0 0 1.4 children [ Shape { appearance USE TRUNK geometry Cylinder { height 2.8 radius 0.20 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 3.2 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.9 subdivision 4 } } ] }
    Transform { translation -0.7  0.6 4.0 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.4 subdivision 4 } } ] }
    Transform { translation  0.6 -0.5 3.8 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.2 subdivision 4 } } ] }
  ]
}

# Tree E — north cluster
Solid {
  translation 7 23 0
  children [
    Transform { translation 0 0 1.9 children [ Shape { appearance USE TRUNK geometry Cylinder { height 3.8 radius 0.27 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 4.1 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.3 subdivision 4 } } ] }
    Transform { translation  1.0  0.5 5.0 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.7 subdivision 4 } } ] }
    Transform { translation -0.6 -0.9 4.8 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.4 subdivision 4 } } ] }
  ]
}

# Tree F — SW
Solid {
  translation -2.98 -22.8 0
  children [
    Transform { translation 0 0 1.3 children [ Shape { appearance USE TRUNK geometry Cylinder { height 2.6 radius 0.19 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 2.9 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.7 subdivision 4 } } ] }
    Transform { translation  0.6  0.4 3.7 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.2 subdivision 4 } } ] }
  ]
}

# Tree G — west side
Solid {
  translation -23 -5 0
  children [
    Transform { translation 0 0 2.0 children [ Shape { appearance USE TRUNK geometry Cylinder { height 4.0 radius 0.29 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 4.4 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 2.4 subdivision 4 } } ] }
    Transform { translation -1.0  0.8 5.3 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 1.8 subdivision 4 } } ] }
    Transform { translation  0.9 -0.7 5.0 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.6 subdivision 4 } } ] }
  ]
}

# Tree H — east side
Solid {
  translation 21.35 -1.05 0
  children [
    Transform { translation 0 0 1.5 children [ Shape { appearance USE TRUNK geometry Cylinder { height 3.0 radius 0.22 subdivision 10 } } ] }
    Transform { translation  0.0  0.0 3.4 children [ Shape { appearance USE LEAF_A geometry Sphere { radius 2.0 subdivision 4 } } ] }
    Transform { translation  0.7  0.6 4.2 children [ Shape { appearance USE LEAF_C geometry Sphere { radius 1.4 subdivision 4 } } ] }
    Transform { translation -0.5 -0.8 4.0 children [ Shape { appearance USE LEAF_B geometry Sphere { radius 1.2 subdivision 4 } } ] }
  ]
}

# ==================== SCARECROW (east side, outside fence) ====================
Solid {
  translation 20 -10 0
  rotation 0 0 1 2.61799
  children [
    Transform { translation 0 0 1.22 children [ Shape { appearance USE TRUNK geometry Cylinder { height 2.44 radius 0.045 subdivision 8 } } ] }
    Transform { translation 0 0 2.02 rotation 1 0 0 1.5708 children [ Shape { appearance USE TRUNK geometry Cylinder { height 1.60 radius 0.032 subdivision 8 } } ] }
    Transform {
      translation 0 0 2.44
      children [
        Shape { appearance USE STRAW geometry Sphere { radius 0.17 subdivision 3 } }
        Transform { translation 0.13  0.05 0.06 children [ Shape { appearance PBRAppearance { baseColor 0.06 0.06 0.06 } geometry Sphere { radius 0.028 subdivision 2 } } ] }
        Transform { translation 0.13 -0.05 0.06 children [ Shape { appearance PBRAppearance { baseColor 0.06 0.06 0.06 } geometry Sphere { radius 0.028 subdivision 2 } } ] }
        Transform { translation 0.16 0 -0.02 rotation 0 1 0 1.5708 children [ Shape { appearance PBRAppearance { baseColor 0.75 0.50 0.30 } geometry Cone { height 0.07 bottomRadius 0.032 subdivision 6 } } ] }
        Transform { translation 0.14  0.04 -0.06 children [ Shape { appearance PBRAppearance { baseColor 0.18 0.08 0.08 } geometry Box { size 0.01 0.04 0.01 } } ] }
        Transform { translation 0.14 -0.04 -0.06 children [ Shape { appearance PBRAppearance { baseColor 0.18 0.08 0.08 } geometry Box { size 0.01 0.04 0.01 } } ] }
      ]
    }
    Transform { translation 0 0 2.62 children [ Shape { appearance USE HAT geometry Cylinder { height 0.04 radius 0.28 subdivision 12 } } ] }
    Transform { translation 0 0 2.80 children [ Shape { appearance USE HAT geometry Cylinder { height 0.30 radius 0.17 subdivision 10 } } ] }
    Transform { translation 0 0 1.60 children [ Shape { appearance USE SHIRT geometry Box { size 0.20 0.40 0.46 } } ] }
    Transform { translation 0 0 1.14 children [ Shape { appearance USE PANTS geometry Box { size 0.17 0.32 0.34 } } ] }
    Transform { translation 0  0.68 2.03 rotation 0 0  1 0.25 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.24 0.03 } } ] }
    Transform { translation 0 -0.68 2.03 rotation 0 0 -1 0.25 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.24 0.03 } } ] }
    Transform { translation 0.10  0.08 1.82 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.03 0.14 } } ] }
    Transform { translation 0.10 -0.08 1.82 children [ Shape { appearance USE STRAW geometry Box { size 0.03 0.03 0.14 } } ] }
  ]
}

# ==================== HAY BALES (near barn) ====================
Solid { translation 25.75 13.76 0.62 children [ Transform { rotation 1 0 0 1.5708 children [ Shape { appearance USE HAY geometry Cylinder { height 1.30 radius 0.62 subdivision 14 } } ] } ] boundingObject Box { size 1.30 1.24 1.24 } }
Solid { translation 24.34 12.32 0.62 rotation -1 0 0 1.5708 children [ Transform { rotation 1 0 0 1.5708 children [ Shape { appearance USE HAY geometry Cylinder { height 1.30 radius 0.62 subdivision 14 } } ] } ] boundingObject Box { size 1.30 1.24 1.24 } }
Solid { translation 24.28 13.79 0.62 children [ Transform { rotation 1 0 0 1.5708 children [ Shape { appearance USE HAY geometry Cylinder { height 1.30 radius 0.62 subdivision 14 } } ] } ] boundingObject Box { size 1.30 1.24 1.24 } }

# ==================== TRACTOR (near barn) ====================
Solid {
  translation 17 19 0.18
  rotation 0 0 1 1.9
  children [
    # Chassis
    Transform { translation 0 0 0.35 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.20 0.20 roughness 0.6 metalness 0.3 } geometry Box { size 2.0 0.90 0.12 } } ] }
    # Engine hood
    Transform { translation 0.60 0 0.60 children [ Shape { appearance PBRAppearance { baseColor 0.15 0.50 0.12 roughness 0.7 metalness 0.1 } geometry Box { size 0.65 0.80 0.45 } } ] }
    # Main body
    Transform { translation -0.15 0 0.60 children [ Shape { appearance PBRAppearance { baseColor 0.15 0.50 0.12 roughness 0.7 metalness 0.1 } geometry Box { size 0.80 0.85 0.45 } } ] }
    # Cabin
    Transform { translation -0.20 0 0.95 children [ Shape { appearance PBRAppearance { baseColor 0.15 0.50 0.12 roughness 0.7 metalness 0.1 } geometry Box { size 0.75 0.80 0.45 } } ] }
    # Cabin roof
    Transform { translation -0.20 0 1.22 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.40 0.10 roughness 0.75 metalness 0.1 } geometry Box { size 0.85 0.90 0.06 } } ] }
    # Windshield
    Transform { translation 0.12 0 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.02 0.55 0.35 } } ] }
    # Rear window
    Transform { translation -0.58 0 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.02 0.55 0.35 } } ] }
    # Side windows
    Transform { translation -0.20  0.40 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.55 0.02 0.30 } } ] }
    Transform { translation -0.20 -0.40 0.95 children [ Shape { appearance USE GLASS geometry Box { size 0.55 0.02 0.30 } } ] }
    # Seat
    Transform { translation -0.25 0 0.55 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.12 0.12 roughness 0.9 } geometry Box { size 0.30 0.35 0.06 } } ] }
    # Exhaust stack
    Transform { translation 0.50 0.30 0.60 children [
      Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.4 metalness 0.6 } geometry Cylinder { height 0.90 radius 0.03 subdivision 6 } }
      Transform { translation 0 0 0.50 children [ Shape { appearance PBRAppearance { baseColor 0.20 0.20 0.20 roughness 0.4 metalness 0.6 } geometry Cylinder { height 0.04 radius 0.045 subdivision 6 } } ] }
    ] }
    # Rear axle
    Transform { translation -0.45 0 0.40 children [ Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.5 metalness 0.5 } geometry Box { size 0.08 1.15 0.08 } } ] }
    # Front axle
    Transform { translation 0.60 0 0.25 children [ Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.5 metalness 0.5 } geometry Box { size 0.08 0.90 0.08 } } ] }
    # Rear left wheel
    Transform { translation -0.45  0.60 0.40 rotation 1 0 0 1.5708 children [
      Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.22 radius 0.40 subdivision 20 } }
      Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.24 radius 0.14 subdivision 10 } }
    ] }
    # Rear right wheel
    Transform { translation -0.45 -0.60 0.40 rotation 1 0 0 1.5708 children [
      Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.22 radius 0.40 subdivision 20 } }
      Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.24 radius 0.14 subdivision 10 } }
    ] }
    # Front left wheel
    Transform { translation 0.60  0.45 0.25 rotation 1 0 0 1.5708 children [
      Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.16 radius 0.25 subdivision 16 } }
      Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.18 radius 0.09 subdivision 8 } }
    ] }
    # Front right wheel
    Transform { translation 0.60 -0.45 0.25 rotation 1 0 0 1.5708 children [
      Shape { appearance PBRAppearance { baseColor 0.08 0.08 0.08 roughness 0.95 } geometry Cylinder { height 0.16 radius 0.25 subdivision 16 } }
      Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 metalness 0.5 } geometry Cylinder { height 0.18 radius 0.09 subdivision 8 } }
    ] }
    # Rear fenders
    Transform { translation -0.45  0.50 0.72 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.40 0.10 roughness 0.75 metalness 0.1 } geometry Box { size 0.50 0.12 0.20 } } ] }
    Transform { translation -0.45 -0.50 0.72 children [ Shape { appearance PBRAppearance { baseColor 0.12 0.40 0.10 roughness 0.75 metalness 0.1 } geometry Box { size 0.50 0.12 0.20 } } ] }
    # Front bumper
    Transform { translation 0.95 0 0.35 children [ Shape { appearance PBRAppearance { baseColor 0.35 0.35 0.35 roughness 0.7 metalness 0.3 } geometry Box { size 0.12 0.75 0.30 } } ] }
    # Headlights
    Transform { translation 0.97  0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.95 0.92 0.70 roughness 0.3 } geometry Sphere { radius 0.05 subdivision 3 } } ] }
    Transform { translation 0.97 -0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.95 0.92 0.70 roughness 0.3 } geometry Sphere { radius 0.05 subdivision 3 } } ] }
    # Taillights
    Transform { translation -0.58  0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.80 0.10 0.10 roughness 0.4 } geometry Box { size 0.04 0.08 0.06 } } ] }
    Transform { translation -0.58 -0.25 0.45 children [ Shape { appearance PBRAppearance { baseColor 0.80 0.10 0.10 roughness 0.4 } geometry Box { size 0.04 0.08 0.06 } } ] }
    # Drawbar hitch
    Transform { translation -0.95 0 0.20 children [ Shape { appearance PBRAppearance { baseColor 0.25 0.25 0.25 roughness 0.5 metalness 0.5 } geometry Box { size 0.12 0.06 0.06 } } ] }
  ]
  boundingObject Box { size 2.2 1.4 1.3 }
}

# ==================== GRASS PATCHES (inside field, decorative) ====================
Solid { translation -8 6 0.15 children [
  Transform { translation  0.10  0.00 0 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.30 } } ] }
  Transform { translation -0.05  0.12 0 rotation 0 0 1 0.4 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.26 } } ] }
  Transform { translation  0.08 -0.10 0 rotation 0 0 1 -0.3 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.28 } } ] }
  Transform { translation -0.12  0.04 0 rotation 0 0 1 0.2 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.24 } } ] }
] }
Solid { translation 6 -9 0.15 children [
  Transform { translation  0.08  0.06 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.28 } } ] }
  Transform { translation -0.10  0.00 0 rotation 0 0 1 -0.3 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.32 } } ] }
  Transform { translation  0.02 -0.12 0 rotation 0 0 1 0.35 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.26 } } ] }
  Transform { translation -0.06  0.10 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.22 } } ] }
] }
Solid { translation -3 11 0.15 children [
  Transform { translation  0.06 -0.06 0 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.26 } } ] }
  Transform { translation -0.08  0.08 0 rotation 0 0 1 0.3 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.30 } } ] }
  Transform { translation  0.12  0.02 0 rotation 0 0 1 -0.25 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.28 } } ] }
] }
Solid { translation 10 8 0.15 children [
  Transform { translation -0.07  0.05 0 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.24 } } ] }
  Transform { translation  0.09 -0.07 0 rotation 0 0 1 0.4 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.28 } } ] }
  Transform { translation  0.00  0.11 0 rotation 0 0 1 -0.2 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.26 } } ] }
] }
Solid { translation -11 -7 0.15 children [
  Transform { translation  0.05  0.08 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.30 } } ] }
  Transform { translation -0.09 -0.04 0 rotation 0 0 1 0.35 children [ Shape { appearance USE LEAF_B geometry Box { size 0.04 0.02 0.28 } } ] }
  Transform { translation  0.10 -0.09 0 rotation 0 0 1 -0.3 children [ Shape { appearance USE LEAF_C geometry Box { size 0.04 0.02 0.24 } } ] }
  Transform { translation -0.03  0.12 0 children [ Shape { appearance USE LEAF_A geometry Box { size 0.04 0.02 0.26 } } ] }
] }

# ==================== SHEPHERD DOG ====================
ShepherdDog {
  translation 0 0 0.5
  rotation 0 0 1 0
  controller "shepherd_dog"
}

# ==================== SHEEP ====================
# Up to 10 sheep, scattered through the field's central/north zone. Comment
# out trailing slots to test smaller flock sizes; the dog policy is trained
# to handle 1..10 sheep so any prefix works.
Sheep { translation  3.0  2.0 0.5 name "sheep1"  controller "sheep" }
Sheep { translation  3.0 -2.0 0.5 name "sheep2"  controller "sheep" }
Sheep { translation  4.0  0.0 0.5 name "sheep3"  controller "sheep" }
Sheep { translation -3.0  4.0 0.5 name "sheep4"  controller "sheep" }
Sheep { translation -5.0 -2.0 0.5 name "sheep5"  controller "sheep" }
Sheep { translation  6.0  5.0 0.5 name "sheep6"  controller "sheep" }
Sheep { translation -6.0  6.0 0.5 name "sheep7"  controller "sheep" }
Sheep { translation  0.0  8.0 0.5 name "sheep8"  controller "sheep" }
Sheep { translation -8.0  0.0 0.5 name "sheep9"  controller "sheep" }
Sheep { translation  7.0 -4.0 0.5 name "sheep10" controller "sheep" }