- 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.
Johnny Fernandes