start pose: (3.0, 3.0, 0.0)

=== AGENT DRIVING A CLOSED-LOOP SQUARE ===   [model: global.anthropic.claude-opus-4-8 via Amazon Bedrock]

The agent echoes the pose after every move, computes the heading error, and
issues corrective turns until each corner is within ~0.02 rad before driving the
next side. 43 use_ros tool calls total (publish + echo, closed-loop).

  Side 1 (east):  drive to x~5.35           Corner 1 -> turn to theta=1.569
  Side 2 (north): drive to y~5.52           Corner 2 -> turn to theta=+-3.14
  Side 3 (west):  drive to x~2.84           Corner 3 -> turn to theta=-1.547
  Side 4 (south): drive to y~2.97           Corner 4 -> turn to theta=0.013
  Stop (zero velocity) + echo final pose.

Corners (closed-loop verified):
  Start:    (3.00, 3.00)  theta=0
  Corner 1: (5.35, 3.00)  theta~1.569
  Corner 2: (5.36, 5.52)  theta~+-3.14
  Corner 3: (2.84, 5.49)  theta~-1.547
  Corner 4: (2.90, 2.97)  theta~0.013

"All headings landed within ~0.05 rad of the cardinal targets via closed-loop
echo+correct, and the path closed cleanly back to the origin."

final pose: (2.897, 2.972, 0.013)   <- back at the start corner, a clean square
