Rectangle2D bound = new Rectangle2D(env.getBoundingBox(false));
double puffer = 100;
bound.setLeft(bound.upperLeftCorner().x + puffer);
bound.setRight(bound.lowerRightCorner().x - puffer);
bound.setTop(bound.upperLeftCorner().y + puffer);
bound.setBottom(bound.lowerRightCorner().y - puffer);
for (int j = 0; j < numGoodAgents; j++) {
agent = new JasmineRobotWithoutMutationMatrixSelection(