- shepherd_dog: a leftover reference to the removed HERDING_HEADING_EMA
helper raised NameError on every controller startup. Drop it.
- docs/status.md: expand the n=5 mecanum failure-mode discussion with
the four phantom-suppression attempts that didn't pan out, and the
honest workaround (Webots reports n=10 only, n=5 covered by gym
results).
- docs/article_draft.md: project-report outline with section structure,
results tables, and the mecanum sim-to-real narrative for the
formal writeup.
Replace the failing ODE-rolled mecanum chassis dynamics with a
Supervisor.setVelocity call that uses the gym mecanum forward
kinematics formula directly. Wheel motors still spin (visual);
chassis motion comes from the gym model so training and deployment
match by construction.
Results (seed=42, n=10 sheep): BC + RL mecanum pen 10/10 in both
field and field_round. n=5 mecanum cells still 0/5 due to tracker
phantoms anchored to wall corners under the 360° LiDAR — documented
in docs/status.md as the remaining gap.
Cleanup: drop deploy-time hacks (HERDING_HEADING_*, HERDING_OMEGA_CLAMP,
HERDING_TRACKER_*) that were workarounds for the old ODE chaos;
revert the proto inertiaMatrix, roller dampingConstant, and reduced
motor torque since they no longer carry load; refresh comments
around the mecanum config presets.
Johnny Fernandes