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I think Spacemouse is right on the access problem. It looks like you could pu***he middle loop back, maybe even under the yard in the back. The biggest access problem then is the three foot wide left side. Is this a room, where the only access is as shown? I guess a hatch in the loop, and then the worst operational reach would be about 2 feet. The other possible solution to the back corner would be to mover the yard to the inside of the loop. Some of the S curves could be addressed, as well, be making them more sweeping, but still rugged. <br />
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