Naming pass: rename functions whose third+ segment is redundant or
implementation-detail, sticking to the codebase's preferred
``noun_verb`` / ``verb_noun`` two-concept idiom. Renames are atomic
across definitions, callers, and tests.
is_penned_position → is_penned
modulate_speed_near_sheep → modulate_speed
mecanum_kinematics_step → mecanum_step
policy_forward_mean → forward_mean
Two-concept patterns like ``velocity_to_wheels`` / ``detections_from_scan``
/ ``make_strombom_predictor`` are left alone — they're idiomatic
converters / factories that read as a single concept, and the longer
form aids grep-ability.
Docstring polish:
* ``herding/config.py`` header drops the "previously lived as a
module-level literal" historical framing — we ship as a single
thing, so the refactor anecdote no longer earns its keep. The
usage examples now mention both ``HERDING_WEBOTS`` and
``HERDING_MEC_WEBOTS`` presets.
126 pytest cases still pass.
Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
Johnny Fernandes
7ab69ab0f3