Context: [objects_distance_from_drone[pedestrian x:23.40 y:4.95 z:0.35, dog x:1.94 y:-0.01 z:-0.14], yaw_start:289.87, yaw_current:94.87]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-70.13;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14], yaw_start:289.87, yaw_current:109.87]

Answer: CIRCLE: dx:-0.39; dy:-0.35; dz:0.00; yaw:-55.13;


Context: [objects_distance_from_drone[pedestrian x:23.01 y:-6.43 z:0.33, BMW X5 x:8.81 y:5.23 z:0.01, dog x:1.96 y:0.01 z:-0.14], yaw_start:289.87, yaw_current:124.87]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-40.13;


Context: [objects_distance_from_drone[BMW X5 x:10.39 y:4.31 z:0.35, dog x:1.97 y:0.01 z:-0.14], yaw_start:289.87, yaw_current:139.87]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-25.13;


Context: [objects_distance_from_drone[BMW X5 x:11.09 y:1.43 z:0.35, dog x:1.98 y:0.02 z:-0.14], yaw_start:289.87, yaw_current:154.87]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-10.13;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:289.87, yaw_current:169.87]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:4.87;


Context: [objects_distance_from_drone[BMW X5 x:10.59 y:-3.72 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:289.87, yaw_current:184.87]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:19.87;


Context: [objects_distance_from_drone[BMW X5 x:10.15 y:-6.06 z:0.34, dog x:1.97 y:0.01 z:-0.14], yaw_start:289.87, yaw_current:199.87]

Answer: CIRCLE: dx:0.35; dy:-0.39; dz:0.00; yaw:34.87;


Context: [objects_distance_from_drone[dog x:1.99 y:0.00 z:-0.14], yaw_start:289.87, yaw_current:214.87]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:49.87;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:289.87, yaw_current:229.87]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:64.87;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.03 z:-0.14], yaw_start:289.87, yaw_current:244.87]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:79.87;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:289.87, yaw_current:259.87]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:94.87;


Context: [drone_absolute_movement x:-2.33 y:6.27 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:2.33; dy:-6.27;


Context: [objects_distance_from_drone[dog x:8.59 y:0.02 z:-0.06]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:11.37 y:1.69 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:11.34 y:1.75 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:10.59 y:-1.02 z:0.08]]

Answer: MOVE: x:8.59; y:-1.02; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:0.01 z:0.05], yaw_start:120.57, yaw_current:105.57]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.43;


Context: [objects_distance_from_drone[bench x:1.98 y:0.01 z:0.07], yaw_start:120.57, yaw_current:120.57]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-44.43;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.10 z:0.06], yaw_start:120.57, yaw_current:135.57]

Answer: CIRCLE: dx:-0.20; dy:-0.48; dz:0.00; yaw:-29.43;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.21 z:0.07], yaw_start:120.57, yaw_current:150.57]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-14.43;


Context: [objects_distance_from_drone[bench x:1.83 y:-0.15 z:0.07], yaw_start:120.57, yaw_current:165.57]

Answer: CIRCLE: dx:0.07; dy:-0.52; dz:0.00; yaw:0.57;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.11 z:0.07], yaw_start:120.57, yaw_current:180.57]

Answer: CIRCLE: dx:0.20; dy:-0.48; dz:0.00; yaw:15.57;


Context: [objects_distance_from_drone[pedestrian x:12.90 y:5.64 z:0.35, bench x:1.81 y:-0.20 z:0.07], yaw_start:120.57, yaw_current:195.57]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.57;


Context: [objects_distance_from_drone[pedestrian x:14.15 y:3.22 z:0.34, bench x:1.82 y:-0.22 z:0.08], yaw_start:120.57, yaw_current:210.57]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:45.57;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.16 z:0.10], yaw_start:120.57, yaw_current:225.57]

Answer: CIRCLE: dx:0.48; dy:-0.20; dz:0.00; yaw:60.57;


Context: [objects_distance_from_drone[dog x:15.76 y:5.26 z:-0.13, bench x:1.85 y:-0.07 z:0.11], yaw_start:120.57, yaw_current:240.57]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:75.57;


Context: [objects_distance_from_drone[pedestrian x:12.88 y:-5.67 z:0.34, bench x:1.84 y:0.07 z:0.13], yaw_start:120.57, yaw_current:255.57]

Answer: CIRCLE: dx:0.52; dy:0.07; dz:0.00; yaw:90.57;


Context: [objects_distance_from_drone[bench x:1.84 y:0.18 z:0.13], yaw_start:120.57, yaw_current:270.57]

Answer: CIRCLE: dx:0.48; dy:0.20; dz:0.00; yaw:105.57;


Context: [objects_distance_from_drone[dog x:15.47 y:-6.04 z:-0.14, bench x:1.87 y:0.25 z:0.13], yaw_start:120.57, yaw_current:285.57]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.57;


Context: [objects_distance_from_drone[bench x:1.86 y:0.27 z:0.13], yaw_start:120.57, yaw_current:300.57]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:135.57;


Context: [objects_distance_from_drone[bench x:1.86 y:0.23 z:0.13], yaw_start:120.57, yaw_current:315.57]

Answer: CIRCLE: dx:0.20; dy:0.48; dz:0.00; yaw:150.57;


Context: [objects_distance_from_drone[bench x:1.89 y:0.11 z:0.11], yaw_start:120.57, yaw_current:330.57]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:165.57;


Context: [objects_distance_from_drone[bench x:1.95 y:0.13 z:0.07], yaw_start:120.57, yaw_current:345.57]

Answer: CIRCLE: dx:-0.07; dy:0.52; dz:0.00; yaw:-179.43;


Context: [objects_distance_from_drone[bench x:1.97 y:0.12 z:0.10], yaw_start:120.57, yaw_current:0.57]

Answer: CIRCLE: dx:-0.20; dy:0.48; dz:0.00; yaw:-164.43;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.03 z:0.14], yaw_start:120.57, yaw_current:15.57]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.43;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.12 z:0.13], yaw_start:120.57, yaw_current:30.57]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-134.43;


Context: [objects_distance_from_drone[BMW X5 x:7.46 y:-4.28 z:-0.00, bench x:2.02 y:-0.13 z:0.13], yaw_start:120.57, yaw_current:45.57]

Answer: CIRCLE: dx:-0.48; dy:0.20; dz:0.00; yaw:-119.43;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.11 z:0.13], yaw_start:120.57, yaw_current:60.57]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-104.43;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.06 z:0.13], yaw_start:120.57, yaw_current:75.57]

Answer: CIRCLE: dx:-0.52; dy:-0.07; dz:0.00; yaw:-89.43;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.03 z:0.10], yaw_start:120.57, yaw_current:90.57]

Answer: CIRCLE: dx:-0.48; dy:-0.20; dz:0.00; yaw:-74.43;


Context: [drone_absolute_movement x:4.17 y:-7.55 z:0.50, objects_distance_from_drone[bench x:2.00 y:0.01 z:0.09]]

Answer: RETURN: dx:-4.17; dy:7.55;


Context: [objects_distance_from_drone[bench x:10.53 y:-0.64 z:0.27]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:7.91 y:-1.04 z:0.87, dog x:12.03 y:-1.53 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:7.91 y:-0.89 z:0.37, dog x:12.03 y:-1.34 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:7.49 y:0.66 z:0.34]]

Answer: MOVE: x:5.49; y:0.66; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:337.91, yaw_current:322.91]

Answer: CIRCLE: dx:0.13; dy:0.51; dz:0.00; yaw:157.91;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:337.91, yaw_current:337.91]

Answer: CIRCLE: dx:-0.00; dy:0.52; dz:0.00; yaw:172.91;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:337.91, yaw_current:352.91]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-172.09;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:337.91, yaw_current:7.91]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.09;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:337.91, yaw_current:22.91]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.09;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:337.91, yaw_current:37.91]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.09;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:337.91, yaw_current:52.91]

Answer: CIRCLE: dx:-0.51; dy:0.13; dz:0.00; yaw:-112.09;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:337.91, yaw_current:67.91]

Answer: CIRCLE: dx:-0.52; dy:-0.00; dz:0.00; yaw:-97.09;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:337.91, yaw_current:82.91]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-82.09;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:337.91, yaw_current:97.91]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.09;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:14.97 y:6.84 z:0.51, bench x:19.98 y:5.95 z:0.08], yaw_start:337.91, yaw_current:112.91]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.09;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:16.17 y:5.94 z:0.35, dog x:19.77 y:7.95 z:-0.13, bench x:20.91 y:1.09 z:0.08], yaw_start:337.91, yaw_current:127.91]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.09;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:17.21 y:1.97 z:0.35, dog x:21.22 y:3.07 z:-0.13, bench x:20.55 y:-3.85 z:0.07], yaw_start:337.91, yaw_current:142.91]

Answer: CIRCLE: dx:-0.13; dy:-0.51; dz:0.00; yaw:-22.09;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:17.20 y:-2.04 z:0.34, dog x:21.35 y:-2.02 z:-0.14, bench x:18.77 y:-8.95 z:0.06], yaw_start:337.91, yaw_current:157.91]

Answer: CIRCLE: dx:0.00; dy:-0.52; dz:0.00; yaw:-7.09;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:16.13 y:-6.08 z:0.34, oil barrel x:7.12 y:3.25 z:-0.06], yaw_start:337.91, yaw_current:172.91]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:7.91;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, BMW X5 x:14.31 y:-6.51 z:0.54, oil barrel x:7.85 y:2.03 z:-0.07], yaw_start:337.91, yaw_current:187.91]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.91;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:8.17 y:0.44 z:-0.07], yaw_start:337.91, yaw_current:202.91]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.91;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09, oil barrel x:8.08 y:-1.18 z:-0.07], yaw_start:337.91, yaw_current:217.91]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.91;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, oil barrel x:7.57 y:-2.72 z:-0.07], yaw_start:337.91, yaw_current:232.91]

Answer: CIRCLE: dx:0.51; dy:-0.13; dz:0.00; yaw:67.91;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:337.91, yaw_current:247.91]

Answer: CIRCLE: dx:0.52; dy:0.00; dz:0.00; yaw:82.91;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:337.91, yaw_current:262.91]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:97.91;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:337.91, yaw_current:277.91]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.91;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:337.91, yaw_current:292.91]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.91;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:337.91, yaw_current:307.91]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.91;


Context: [drone_absolute_movement x:-5.08 y:2.10 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:5.08; dy:-2.10;


Context: [objects_distance_from_drone[pedestrian x:7.38 y:-0.23 z:0.48]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:3.29 y:3.93 z:0.56]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:3.60 y:-0.63 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.75 y:1.20 z:0.34]]

Answer: MOVE: x:6.75; y:1.20; z:0.34


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.01 z:0.38], yaw_start:246.39, yaw_current:231.39]

Answer: CIRCLE: dx:1.00; dy:-0.29; dz:0.00; yaw:66.39;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:0.11 z:0.34], yaw_start:246.39, yaw_current:246.39]

Answer: CIRCLE: dx:1.04; dy:-0.02; dz:0.00; yaw:81.39;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:0.17 z:0.34], yaw_start:246.39, yaw_current:261.39]

Answer: CIRCLE: dx:1.01; dy:0.25; dz:0.00; yaw:96.39;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.03 z:0.34], yaw_start:246.39, yaw_current:276.39]

Answer: CIRCLE: dx:0.91; dy:0.50; dz:0.00; yaw:111.39;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:-0.23 z:0.34], yaw_start:246.39, yaw_current:291.39]

Answer: CIRCLE: dx:0.75; dy:0.72; dz:0.00; yaw:126.39;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:-0.16 z:0.34], yaw_start:246.39, yaw_current:306.39]

Answer: CIRCLE: dx:0.54; dy:0.89; dz:0.00; yaw:141.39;


Context: [objects_distance_from_drone[BMW X5 x:3.68 y:0.06 z:0.38], yaw_start:246.39, yaw_current:321.39]

Answer: CIRCLE: dx:0.29; dy:1.00; dz:0.00; yaw:156.39;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:-0.13 z:0.44], yaw_start:246.39, yaw_current:336.39]

Answer: CIRCLE: dx:0.02; dy:1.04; dz:0.00; yaw:171.39;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:-0.31 z:0.47], yaw_start:246.39, yaw_current:351.39]

Answer: CIRCLE: dx:-0.25; dy:1.01; dz:0.00; yaw:-173.61;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.27 z:0.50], yaw_start:246.39, yaw_current:6.39]

Answer: CIRCLE: dx:-0.50; dy:0.91; dz:0.00; yaw:-158.61;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.13 z:0.49, oil barrel x:20.44 y:6.35 z:-0.06], yaw_start:246.39, yaw_current:21.39]

Answer: CIRCLE: dx:-0.72; dy:0.75; dz:0.00; yaw:-143.61;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.09 z:0.46], yaw_start:246.39, yaw_current:36.39]

Answer: CIRCLE: dx:-0.89; dy:0.54; dz:0.00; yaw:-128.61;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.34 z:0.48, bench x:12.79 y:-5.38 z:0.07], yaw_start:246.39, yaw_current:51.39]

Answer: CIRCLE: dx:-1.00; dy:0.29; dz:0.00; yaw:-113.61;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.46 z:0.48, oil barrel x:20.12 y:-7.16 z:-0.08], yaw_start:246.39, yaw_current:66.39]

Answer: CIRCLE: dx:-1.04; dy:0.02; dz:0.00; yaw:-98.61;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.49 z:0.45], yaw_start:246.39, yaw_current:81.39]

Answer: CIRCLE: dx:-1.01; dy:-0.25; dz:0.00; yaw:-83.61;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.36 z:0.42], yaw_start:246.39, yaw_current:96.39]

Answer: CIRCLE: dx:-0.91; dy:-0.50; dz:0.00; yaw:-68.61;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.08 z:0.36], yaw_start:246.39, yaw_current:111.39]

Answer: CIRCLE: dx:-0.75; dy:-0.72; dz:0.00; yaw:-53.61;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.07 z:0.35], yaw_start:246.39, yaw_current:126.39]

Answer: CIRCLE: dx:-0.54; dy:-0.89; dz:0.00; yaw:-38.61;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:0.17 z:0.34], yaw_start:246.39, yaw_current:141.39]

Answer: CIRCLE: dx:-0.29; dy:-1.00; dz:0.00; yaw:-23.61;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:-0.13 z:0.35], yaw_start:246.39, yaw_current:156.39]

Answer: CIRCLE: dx:-0.02; dy:-1.04; dz:0.00; yaw:-8.61;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.38 z:0.35], yaw_start:246.39, yaw_current:171.39]

Answer: CIRCLE: dx:0.25; dy:-1.01; dz:0.00; yaw:6.39;


Context: [objects_distance_from_drone[BMW X5 x:4.07 y:-0.40 z:0.35], yaw_start:246.39, yaw_current:186.39]

Answer: CIRCLE: dx:0.50; dy:-0.91; dz:0.00; yaw:21.39;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:-0.35 z:0.35], yaw_start:246.39, yaw_current:201.39]

Answer: CIRCLE: dx:0.72; dy:-0.75; dz:0.00; yaw:36.39;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:-0.19 z:0.35], yaw_start:246.39, yaw_current:216.39]

Answer: CIRCLE: dx:0.89; dy:-0.54; dz:0.00; yaw:51.39;


Context: [drone_absolute_movement x:2.81 y:0.27 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.01 z:0.35]]

Answer: RETURN: dx:-2.81; dy:-0.27;


Context: [objects_distance_from_drone[BMW X5 x:5.06 y:-2.65 z:0.55]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:9.34 y:0.39 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:9.28 y:0.29 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:16.64 y:1.99 z:0.35, dog x:9.64 y:-0.89 z:-0.14]]

Answer: MOVE: x:7.64; y:-0.89; z:-0.14


Context: [objects_distance_from_drone[BMW X5 x:8.83 y:4.01 z:0.28, dog x:2.10 y:0.00 z:-0.16], yaw_start:38.89, yaw_current:23.89]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-141.11;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.02 z:-0.14], yaw_start:38.89, yaw_current:38.89]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.11;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14], yaw_start:38.89, yaw_current:53.89]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-111.11;


Context: [objects_distance_from_drone[BMW X5 x:9.19 y:-2.43 z:0.34, dog x:1.98 y:-0.05 z:-0.14], yaw_start:38.89, yaw_current:68.89]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.11;


Context: [objects_distance_from_drone[BMW X5 x:7.98 y:-4.62 z:0.34, dog x:2.00 y:-0.05 z:-0.14], yaw_start:38.89, yaw_current:83.89]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-81.11;


Context: [objects_distance_from_drone[BMW X5 x:7.39 y:-3.04 z:0.55, dog x:1.99 y:-0.04 z:-0.14], yaw_start:38.89, yaw_current:98.89]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.11;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:38.89, yaw_current:113.89]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-51.11;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.03 z:-0.14], yaw_start:38.89, yaw_current:128.89]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.11;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.02 z:-0.14], yaw_start:38.89, yaw_current:143.89]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-21.11;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.02 z:-0.14, bench x:17.88 y:8.64 z:0.08], yaw_start:38.89, yaw_current:158.89]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.11;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14, bench x:19.66 y:3.76 z:0.08], yaw_start:38.89, yaw_current:173.89]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:8.89;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14], yaw_start:38.89, yaw_current:188.89]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.89;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, bench x:19.17 y:-5.59 z:0.07], yaw_start:38.89, yaw_current:203.89]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:38.89;


Context: [objects_distance_from_drone[pedestrian x:5.32 y:2.19 z:0.35, dog x:1.95 y:0.00 z:-0.14], yaw_start:38.89, yaw_current:218.89]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.89;


Context: [objects_distance_from_drone[pedestrian x:5.96 y:1.80 z:0.34, dog x:1.97 y:0.02 z:-0.14, oil barrel x:17.46 y:4.47 z:-0.07], yaw_start:38.89, yaw_current:233.89]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:68.89;


Context: [objects_distance_from_drone[pedestrian x:6.32 y:0.82 z:0.34, dog x:1.96 y:0.03 z:-0.14], yaw_start:38.89, yaw_current:248.89]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.89;


Context: [objects_distance_from_drone[pedestrian x:6.39 y:-0.33 z:0.34, dog x:1.95 y:0.03 z:-0.14, oil barrel x:17.62 y:-3.87 z:-0.07], yaw_start:38.89, yaw_current:263.89]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:98.89;


Context: [objects_distance_from_drone[pedestrian x:6.15 y:-1.46 z:0.34, dog x:1.95 y:0.03 z:-0.14, oil barrel x:16.09 y:-7.49 z:-0.08], yaw_start:38.89, yaw_current:278.89]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.89;


Context: [objects_distance_from_drone[pedestrian x:5.63 y:-2.04 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:38.89, yaw_current:293.89]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:128.89;


Context: [objects_distance_from_drone[pedestrian x:4.86 y:-2.35 z:0.34, dog x:1.98 y:0.01 z:-0.14], yaw_start:38.89, yaw_current:308.89]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.89;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.00 z:-0.14], yaw_start:38.89, yaw_current:323.89]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:158.89;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:38.89, yaw_current:338.89]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.89;


Context: [objects_distance_from_drone[dog x:2.01 y:0.01 z:-0.14], yaw_start:38.89, yaw_current:353.89]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-171.11;


Context: [objects_distance_from_drone[BMW X5 x:6.91 y:5.14 z:0.35, dog x:2.00 y:0.01 z:-0.14], yaw_start:38.89, yaw_current:8.89]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.11;


Context: [drone_absolute_movement x:-5.96 y:-4.82 z:0.50, objects_distance_from_drone[BMW X5 x:8.73 y:4.01 z:0.40, dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:5.96; dy:4.82;


Context: [objects_distance_from_drone[pedestrian x:6.94 y:-3.06 z:0.57, BMW X5 x:16.37 y:3.01 z:0.87, dog x:9.56 y:-0.26 z:0.17]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.85 y:-7.30 z:0.01, bench x:11.54 y:1.02 z:0.08]]

Answer: MOVE: x:9.54; y:1.02; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:0.00 z:0.05], yaw_start:270.83, yaw_current:255.83]

Answer: CIRCLE: dx:0.52; dy:0.08; dz:0.00; yaw:90.83;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.08 z:0.07], yaw_start:270.83, yaw_current:270.83]

Answer: CIRCLE: dx:0.48; dy:0.21; dz:0.00; yaw:105.83;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.04 z:0.07], yaw_start:270.83, yaw_current:285.83]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.83;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.18 z:0.07], yaw_start:270.83, yaw_current:300.83]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:135.83;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.26 z:0.07], yaw_start:270.83, yaw_current:315.83]

Answer: CIRCLE: dx:0.19; dy:0.49; dz:0.00; yaw:150.83;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.26 z:0.09], yaw_start:270.83, yaw_current:330.83]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:165.83;


Context: [objects_distance_from_drone[pedestrian x:13.62 y:4.78 z:0.35, bench x:1.94 y:-0.22 z:0.11], yaw_start:270.83, yaw_current:345.83]

Answer: CIRCLE: dx:-0.08; dy:0.52; dz:0.00; yaw:-179.17;


Context: [objects_distance_from_drone[pedestrian x:14.47 y:1.60 z:0.34, bench x:1.90 y:-0.15 z:0.13], yaw_start:270.83, yaw_current:0.83]

Answer: CIRCLE: dx:-0.21; dy:0.48; dz:0.00; yaw:-164.17;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.04 z:0.13], yaw_start:270.83, yaw_current:15.83]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.17;


Context: [objects_distance_from_drone[pedestrian x:13.60 y:-4.87 z:0.34, bench x:1.86 y:0.04 z:0.13], yaw_start:270.83, yaw_current:30.83]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-134.17;


Context: [objects_distance_from_drone[bench x:1.84 y:0.10 z:0.13], yaw_start:270.83, yaw_current:45.83]

Answer: CIRCLE: dx:-0.49; dy:0.19; dz:0.00; yaw:-119.17;


Context: [objects_distance_from_drone[bench x:1.80 y:0.07 z:0.13], yaw_start:270.83, yaw_current:60.83]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-104.17;


Context: [objects_distance_from_drone[bench x:1.78 y:-0.01 z:0.13], yaw_start:270.83, yaw_current:75.83]

Answer: CIRCLE: dx:-0.52; dy:-0.08; dz:0.00; yaw:-89.17;


Context: [objects_distance_from_drone[bench x:1.79 y:0.01 z:0.10], yaw_start:270.83, yaw_current:90.83]

Answer: CIRCLE: dx:-0.48; dy:-0.21; dz:0.00; yaw:-74.17;


Context: [objects_distance_from_drone[bench x:1.81 y:0.11 z:0.12], yaw_start:270.83, yaw_current:105.83]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.17;


Context: [objects_distance_from_drone[bench x:1.82 y:0.03 z:0.15], yaw_start:270.83, yaw_current:120.83]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-44.17;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.06 z:0.14], yaw_start:270.83, yaw_current:135.83]

Answer: CIRCLE: dx:-0.19; dy:-0.49; dz:0.00; yaw:-29.17;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.05 z:0.13], yaw_start:270.83, yaw_current:150.83]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-14.17;


Context: [objects_distance_from_drone[bench x:1.92 y:0.00 z:0.13], yaw_start:270.83, yaw_current:165.83]

Answer: CIRCLE: dx:0.08; dy:-0.52; dz:0.00; yaw:0.83;


Context: [objects_distance_from_drone[BMW X5 x:9.09 y:-4.82 z:0.34, bench x:1.94 y:0.07 z:0.13], yaw_start:270.83, yaw_current:180.83]

Answer: CIRCLE: dx:0.21; dy:-0.48; dz:0.00; yaw:15.83;


Context: [objects_distance_from_drone[BMW X5 x:7.46 y:-5.25 z:0.00, bench x:1.98 y:0.14 z:0.12], yaw_start:270.83, yaw_current:195.83]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.83;


Context: [objects_distance_from_drone[bench x:2.00 y:0.18 z:0.10], yaw_start:270.83, yaw_current:210.83]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:45.83;


Context: [objects_distance_from_drone[bench x:2.02 y:0.18 z:0.08], yaw_start:270.83, yaw_current:225.83]

Answer: CIRCLE: dx:0.49; dy:-0.19; dz:0.00; yaw:60.83;


Context: [objects_distance_from_drone[bench x:2.01 y:0.14 z:0.06], yaw_start:270.83, yaw_current:240.83]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:75.83;


Context: [drone_absolute_movement x:-0.12 y:9.51 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.01 z:0.07]]

Answer: RETURN: dx:0.12; dy:-9.51;


Context: [objects_distance_from_drone[bench x:11.47 y:-0.20 z:0.26]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:11.28 y:4.35 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:11.23 y:4.35 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:7.03 y:0.63 z:0.35, dog x:11.81 y:-2.43 z:-0.13, oil barrel x:13.49 y:4.97 z:-0.06]]

Answer: MOVE: x:5.03; y:0.63; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.11, oil barrel x:8.96 y:3.68 z:-0.14], yaw_start:218.72, yaw_current:203.72]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:38.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10, oil barrel x:9.59 y:1.74 z:-0.07], yaw_start:218.72, yaw_current:218.72]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, oil barrel x:9.78 y:-0.29 z:-0.07], yaw_start:218.72, yaw_current:233.72]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:68.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, oil barrel x:9.44 y:-2.30 z:-0.07], yaw_start:218.72, yaw_current:248.72]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, oil barrel x:8.59 y:-3.93 z:-0.07], yaw_start:218.72, yaw_current:263.72]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:98.72;


Context: [objects_distance_from_drone[pedestrian x:2.01 y:-0.00 z:0.10], yaw_start:218.72, yaw_current:278.72]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.72;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:218.72, yaw_current:293.72]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:128.72;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:218.72, yaw_current:308.72]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.72;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:218.72, yaw_current:323.72]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:158.72;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:218.72, yaw_current:338.72]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.72;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09], yaw_start:218.72, yaw_current:353.72]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-171.28;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09], yaw_start:218.72, yaw_current:8.72]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:10.70 y:6.61 z:0.35], yaw_start:218.72, yaw_current:23.72]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-141.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:12.03 y:3.04 z:0.35], yaw_start:218.72, yaw_current:38.72]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:12.47 y:0.33 z:0.35, bench x:15.27 y:5.23 z:0.08], yaw_start:218.72, yaw_current:53.72]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-111.28;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, BMW X5 x:12.20 y:-2.40 z:0.34, bench x:16.16 y:1.61 z:0.08], yaw_start:218.72, yaw_current:68.72]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.28;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, BMW X5 x:10.93 y:-5.47 z:0.34, bench x:16.10 y:-2.12 z:0.07], yaw_start:218.72, yaw_current:83.72]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-81.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:9.91 y:-4.40 z:0.55, bench x:15.08 y:-5.71 z:0.07], yaw_start:218.72, yaw_current:98.72]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.28;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:218.72, yaw_current:113.72]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-51.28;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, dog x:6.51 y:3.03 z:-0.01], yaw_start:218.72, yaw_current:128.72]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.28;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, dog x:7.23 y:2.09 z:-0.14], yaw_start:218.72, yaw_current:143.72]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-21.28;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, dog x:7.60 y:0.65 z:-0.14], yaw_start:218.72, yaw_current:158.72]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.28;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, dog x:7.59 y:-0.84 z:-0.14], yaw_start:218.72, yaw_current:173.72]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:8.72;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, dog x:7.18 y:-2.27 z:-0.14], yaw_start:218.72, yaw_current:188.72]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.72;


Context: [drone_absolute_movement x:4.07 y:3.07 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10, oil barrel x:8.88 y:3.66 z:-0.01]]

Answer: RETURN: dx:-4.07; dy:-3.07;


Context: [objects_distance_from_drone[pedestrian x:6.99 y:-0.28 z:0.44, dog x:11.34 y:-3.93 z:0.09, oil barrel x:13.95 y:3.18 z:0.06]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:12.14 y:-5.69 z:1.07]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:12.08 y:-5.71 z:0.57]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:14.45 y:-1.15 z:0.35]]

Answer: MOVE: x:10.45; y:-1.15; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.02 z:0.47], yaw_start:142.55, yaw_current:127.55]

Answer: CIRCLE: dx:-0.52; dy:-0.90; dz:0.00; yaw:-37.45;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.17 z:0.45], yaw_start:142.55, yaw_current:142.55]

Answer: CIRCLE: dx:-0.27; dy:-1.01; dz:0.00; yaw:-22.45;


Context: [objects_distance_from_drone[BMW X5 x:4.03 y:0.30 z:0.47], yaw_start:142.55, yaw_current:157.55]

Answer: CIRCLE: dx:0.00; dy:-1.04; dz:0.00; yaw:-7.45;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.34 z:0.45], yaw_start:142.55, yaw_current:172.55]

Answer: CIRCLE: dx:0.27; dy:-1.01; dz:0.00; yaw:7.55;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.25 z:0.42], yaw_start:142.55, yaw_current:187.55]

Answer: CIRCLE: dx:0.52; dy:-0.90; dz:0.00; yaw:22.55;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.03 z:0.37], yaw_start:142.55, yaw_current:202.55]

Answer: CIRCLE: dx:0.74; dy:-0.74; dz:0.00; yaw:37.55;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.17 z:0.35], yaw_start:142.55, yaw_current:217.55]

Answer: CIRCLE: dx:0.90; dy:-0.52; dz:0.00; yaw:52.55;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.01 z:0.35], yaw_start:142.55, yaw_current:232.55]

Answer: CIRCLE: dx:1.01; dy:-0.27; dz:0.00; yaw:67.55;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.17 z:0.35], yaw_start:142.55, yaw_current:247.55]

Answer: CIRCLE: dx:1.04; dy:0.00; dz:0.00; yaw:82.55;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.42 z:0.35], yaw_start:142.55, yaw_current:262.55]

Answer: CIRCLE: dx:1.01; dy:0.27; dz:0.00; yaw:97.55;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-0.46 z:0.35], yaw_start:142.55, yaw_current:277.55]

Answer: CIRCLE: dx:0.90; dy:0.52; dz:0.00; yaw:112.55;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.39 z:0.35], yaw_start:142.55, yaw_current:292.55]

Answer: CIRCLE: dx:0.74; dy:0.74; dz:0.00; yaw:127.55;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.23 z:0.35, bench x:11.94 y:5.88 z:0.08], yaw_start:142.55, yaw_current:307.55]

Answer: CIRCLE: dx:0.52; dy:0.90; dz:0.00; yaw:142.55;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.05 z:0.34], yaw_start:142.55, yaw_current:322.55]

Answer: CIRCLE: dx:0.27; dy:1.01; dz:0.00; yaw:157.55;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.21 z:0.35], yaw_start:142.55, yaw_current:337.55]

Answer: CIRCLE: dx:-0.00; dy:1.04; dz:0.00; yaw:172.55;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.31 z:0.34], yaw_start:142.55, yaw_current:352.55]

Answer: CIRCLE: dx:-0.27; dy:1.01; dz:0.00; yaw:-172.45;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:0.24 z:0.34], yaw_start:142.55, yaw_current:7.55]

Answer: CIRCLE: dx:-0.52; dy:0.90; dz:0.00; yaw:-157.45;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:0.03 z:0.34, bench x:10.90 y:-7.52 z:0.07], yaw_start:142.55, yaw_current:22.55]

Answer: CIRCLE: dx:-0.74; dy:0.74; dz:0.00; yaw:-142.45;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:-0.04 z:0.34], yaw_start:142.55, yaw_current:37.55]

Answer: CIRCLE: dx:-0.90; dy:0.52; dz:0.00; yaw:-127.45;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:0.17 z:0.34], yaw_start:142.55, yaw_current:52.55]

Answer: CIRCLE: dx:-1.01; dy:0.27; dz:0.00; yaw:-112.45;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.06 z:0.40], yaw_start:142.55, yaw_current:67.55]

Answer: CIRCLE: dx:-1.04; dy:-0.00; dz:0.00; yaw:-97.45;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.16 z:0.44], yaw_start:142.55, yaw_current:82.55]

Answer: CIRCLE: dx:-1.01; dy:-0.27; dz:0.00; yaw:-82.45;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.24 z:0.47], yaw_start:142.55, yaw_current:97.55]

Answer: CIRCLE: dx:-0.90; dy:-0.52; dz:0.00; yaw:-67.45;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-0.17 z:0.48], yaw_start:142.55, yaw_current:112.55]

Answer: CIRCLE: dx:-0.74; dy:-0.74; dz:0.00; yaw:-52.45;


Context: [drone_absolute_movement x:8.49 y:-6.21 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.02 z:0.46]]

Answer: RETURN: dx:-8.49; dy:6.21;


Context: [objects_distance_from_drone[BMW X5 x:14.43 y:0.07 z:0.23]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:12.96 y:-1.21 z:-0.14]]

Answer: MOVE: x:10.96; y:-1.21; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:21.77, yaw_current:6.77]

Answer: CIRCLE: dx:-0.26; dy:0.46; dz:0.00; yaw:-158.23;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:21.77]

Answer: CIRCLE: dx:-0.36; dy:0.37; dz:0.00; yaw:-143.23;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:36.77]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.23;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.02 z:-0.14], yaw_start:21.77, yaw_current:51.77]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-113.23;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14], yaw_start:21.77, yaw_current:66.77]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.23;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:21.77, yaw_current:81.77]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-83.23;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:21.77, yaw_current:96.77]

Answer: CIRCLE: dx:-0.46; dy:-0.26; dz:0.00; yaw:-68.23;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:21.77, yaw_current:111.77]

Answer: CIRCLE: dx:-0.37; dy:-0.36; dz:0.00; yaw:-53.23;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14, oil barrel x:17.26 y:6.17 z:-0.06], yaw_start:21.77, yaw_current:126.77]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.23;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.01 z:-0.14, oil barrel x:18.34 y:2.00 z:-0.06], yaw_start:21.77, yaw_current:141.77]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-23.23;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.01 z:-0.14, oil barrel x:18.31 y:-2.31 z:-0.07], yaw_start:21.77, yaw_current:156.77]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.23;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.01 z:-0.14, oil barrel x:17.16 y:-6.45 z:-0.08], yaw_start:21.77, yaw_current:171.77]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:6.77;


Context: [objects_distance_from_drone[BMW X5 x:27.77 y:9.35 z:0.36, dog x:1.94 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:186.77]

Answer: CIRCLE: dx:0.26; dy:-0.46; dz:0.00; yaw:21.77;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.01 z:-0.14, bench x:17.39 y:6.04 z:0.08], yaw_start:21.77, yaw_current:201.77]

Answer: CIRCLE: dx:0.36; dy:-0.37; dz:0.00; yaw:36.77;


Context: [objects_distance_from_drone[pedestrian x:11.96 y:3.81 z:0.35, BMW X5 x:28.99 y:-4.80 z:0.34, dog x:1.95 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:216.77]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.77;


Context: [objects_distance_from_drone[pedestrian x:12.60 y:1.09 z:0.34, BMW X5 x:26.67 y:-12.37 z:0.34, dog x:1.97 y:0.00 z:-0.14], yaw_start:21.77, yaw_current:231.77]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:66.77;


Context: [objects_distance_from_drone[pedestrian x:12.52 y:-1.69 z:0.34, dog x:1.97 y:0.01 z:-0.14, bench x:17.15 y:-6.63 z:0.07], yaw_start:21.77, yaw_current:246.77]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.77;


Context: [objects_distance_from_drone[pedestrian x:11.73 y:-4.35 z:0.33, dog x:1.97 y:0.02 z:-0.14], yaw_start:21.77, yaw_current:261.77]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:96.77;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:21.77, yaw_current:276.77]

Answer: CIRCLE: dx:0.46; dy:0.26; dz:0.00; yaw:111.77;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:21.77, yaw_current:291.77]

Answer: CIRCLE: dx:0.37; dy:0.36; dz:0.00; yaw:126.77;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:21.77, yaw_current:306.77]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.77;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:321.77]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:156.77;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:336.77]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.77;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:21.77, yaw_current:351.77]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-173.23;


Context: [drone_absolute_movement x:-10.20 y:-4.12 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:10.20; dy:4.12;


Context: [objects_distance_from_drone[dog x:12.90 y:-0.28 z:-0.06]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:9.34 y:5.00 z:0.87, bench x:6.91 y:-0.82 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:9.31 y:5.02 z:0.37, bench x:6.89 y:-0.81 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:9.70 y:3.69 z:0.36, bench x:6.92 y:-0.54 z:0.09]]

Answer: MOVE: x:4.92; y:-0.54; z:0.09


Context: [objects_distance_from_drone[bench x:2.09 y:-0.03 z:-0.00], yaw_start:172.63, yaw_current:157.63]

Answer: CIRCLE: dx:0.00; dy:-0.52; dz:0.00; yaw:-7.37;


Context: [objects_distance_from_drone[BMW X5 x:5.12 y:4.67 z:0.35, bench x:1.99 y:0.02 z:0.13], yaw_start:172.63, yaw_current:172.63]

Answer: CIRCLE: dx:0.14; dy:-0.50; dz:0.00; yaw:7.63;


Context: [objects_distance_from_drone[bench x:1.98 y:0.08 z:0.13], yaw_start:172.63, yaw_current:187.63]

Answer: CIRCLE: dx:0.26; dy:-0.45; dz:0.00; yaw:22.63;


Context: [objects_distance_from_drone[bench x:1.99 y:0.10 z:0.13], yaw_start:172.63, yaw_current:202.63]

Answer: CIRCLE: dx:0.37; dy:-0.37; dz:0.00; yaw:37.63;


Context: [objects_distance_from_drone[bench x:1.98 y:0.10 z:0.13], yaw_start:172.63, yaw_current:217.63]

Answer: CIRCLE: dx:0.45; dy:-0.26; dz:0.00; yaw:52.63;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.02 z:0.13], yaw_start:172.63, yaw_current:232.63]

Answer: CIRCLE: dx:0.50; dy:-0.13; dz:0.00; yaw:67.63;


Context: [objects_distance_from_drone[bench x:1.94 y:-0.16 z:0.10], yaw_start:172.63, yaw_current:247.63]

Answer: CIRCLE: dx:0.52; dy:0.00; dz:0.00; yaw:82.63;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.11 z:0.08], yaw_start:172.63, yaw_current:262.63]

Answer: CIRCLE: dx:0.50; dy:0.14; dz:0.00; yaw:97.63;


Context: [objects_distance_from_drone[BMW X5 x:5.69 y:-2.11 z:0.34, bench x:1.88 y:-0.13 z:0.13], yaw_start:172.63, yaw_current:277.63]

Answer: CIRCLE: dx:0.45; dy:0.26; dz:0.00; yaw:112.63;


Context: [objects_distance_from_drone[BMW X5 x:4.58 y:-2.33 z:0.11, bench x:1.85 y:-0.24 z:0.15], yaw_start:172.63, yaw_current:292.63]

Answer: CIRCLE: dx:0.37; dy:0.37; dz:0.00; yaw:127.63;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.25 z:0.14], yaw_start:172.63, yaw_current:307.63]

Answer: CIRCLE: dx:0.26; dy:0.45; dz:0.00; yaw:142.63;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.22 z:0.13], yaw_start:172.63, yaw_current:322.63]

Answer: CIRCLE: dx:0.13; dy:0.50; dz:0.00; yaw:157.63;


Context: [objects_distance_from_drone[dog x:17.78 y:5.61 z:-0.13, bench x:1.86 y:-0.14 z:0.13], yaw_start:172.63, yaw_current:337.63]

Answer: CIRCLE: dx:-0.00; dy:0.52; dz:0.00; yaw:172.63;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.02 z:0.13], yaw_start:172.63, yaw_current:352.63]

Answer: CIRCLE: dx:-0.14; dy:0.50; dz:0.00; yaw:-172.37;


Context: [objects_distance_from_drone[bench x:1.87 y:0.08 z:0.11], yaw_start:172.63, yaw_current:7.63]

Answer: CIRCLE: dx:-0.26; dy:0.45; dz:0.00; yaw:-157.37;


Context: [objects_distance_from_drone[dog x:17.15 y:-7.23 z:-0.15, bench x:1.88 y:0.15 z:0.09], yaw_start:172.63, yaw_current:22.63]

Answer: CIRCLE: dx:-0.37; dy:0.37; dz:0.00; yaw:-142.37;


Context: [objects_distance_from_drone[BMW X5 x:-4.47 y:-0.01 z:0.05, bench x:1.85 y:0.19 z:0.06], yaw_start:172.63, yaw_current:37.63]

Answer: CIRCLE: dx:-0.45; dy:0.26; dz:0.00; yaw:-127.37;


Context: [objects_distance_from_drone[BMW X5 x:-3.32 y:0.00 z:0.05, bench x:1.84 y:0.12 z:0.05], yaw_start:172.63, yaw_current:52.63]

Answer: CIRCLE: dx:-0.50; dy:0.13; dz:0.00; yaw:-112.37;


Context: [objects_distance_from_drone[bench x:1.84 y:0.02 z:0.07], yaw_start:172.63, yaw_current:67.63]

Answer: CIRCLE: dx:-0.52; dy:-0.00; dz:0.00; yaw:-97.37;


Context: [objects_distance_from_drone[bench x:1.87 y:0.10 z:0.07], yaw_start:172.63, yaw_current:82.63]

Answer: CIRCLE: dx:-0.50; dy:-0.14; dz:0.00; yaw:-82.37;


Context: [objects_distance_from_drone[bench x:1.91 y:0.10 z:0.07], yaw_start:172.63, yaw_current:97.63]

Answer: CIRCLE: dx:-0.45; dy:-0.26; dz:0.00; yaw:-67.37;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.01 z:0.06], yaw_start:172.63, yaw_current:112.63]

Answer: CIRCLE: dx:-0.37; dy:-0.37; dz:0.00; yaw:-52.37;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.08 z:0.07], yaw_start:172.63, yaw_current:127.63]

Answer: CIRCLE: dx:-0.26; dy:-0.45; dz:0.00; yaw:-37.37;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.06 z:0.09], yaw_start:172.63, yaw_current:142.63]

Answer: CIRCLE: dx:-0.13; dy:-0.50; dz:0.00; yaw:-22.37;


Context: [drone_absolute_movement x:4.90 y:-0.58 z:0.50, objects_distance_from_drone[bench x:2.00 y:-0.02 z:0.11]]

Answer: RETURN: dx:-4.90; dy:0.58;


Context: [objects_distance_from_drone[BMW X5 x:9.10 y:4.97 z:0.46, bench x:6.87 y:0.05 z:0.13]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:10.60 y:-4.22 z:1.02, oil barrel x:11.68 y:-1.81 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:10.59 y:-4.21 z:0.53, oil barrel x:11.66 y:-1.80 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:9.22 y:-0.83 z:0.34]]

Answer: MOVE: x:7.22; y:-0.83; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.12], yaw_start:40.12, yaw_current:25.12]

Answer: CIRCLE: dx:-0.39; dy:0.35; dz:0.00; yaw:-139.88;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:40.12, yaw_current:40.12]

Answer: CIRCLE: dx:-0.46; dy:0.24; dz:0.00; yaw:-124.88;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:40.12, yaw_current:55.12]

Answer: CIRCLE: dx:-0.51; dy:0.11; dz:0.00; yaw:-109.88;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:40.12, yaw_current:70.12]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-94.88;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:40.12, yaw_current:85.12]

Answer: CIRCLE: dx:-0.50; dy:-0.16; dz:0.00; yaw:-79.88;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:40.12, yaw_current:100.12]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-64.88;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:40.12, yaw_current:115.12]

Answer: CIRCLE: dx:-0.35; dy:-0.39; dz:0.00; yaw:-49.88;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:16.59 y:6.99 z:0.56, dog x:15.86 y:5.62 z:-0.13], yaw_start:40.12, yaw_current:130.12]

Answer: CIRCLE: dx:-0.24; dy:-0.46; dz:0.00; yaw:-34.88;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:18.35 y:5.33 z:0.35, dog x:16.84 y:1.85 z:-0.14], yaw_start:40.12, yaw_current:145.12]

Answer: CIRCLE: dx:-0.11; dy:-0.51; dz:0.00; yaw:-19.88;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:19.17 y:0.90 z:0.35, dog x:16.80 y:-2.08 z:-0.14, oil barrel x:20.26 y:5.80 z:-0.06], yaw_start:40.12, yaw_current:160.12]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-4.88;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:18.82 y:-3.58 z:0.34, dog x:15.76 y:-5.85 z:-0.15, oil barrel x:21.14 y:0.86 z:-0.07], yaw_start:40.12, yaw_current:175.12]

Answer: CIRCLE: dx:0.16; dy:-0.50; dz:0.00; yaw:10.12;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:17.32 y:-8.52 z:0.33, oil barrel x:20.71 y:-4.13 z:-0.07], yaw_start:40.12, yaw_current:190.12]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:25.12;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, bench x:11.97 y:5.09 z:0.08, oil barrel x:19.01 y:-8.68 z:-0.08], yaw_start:40.12, yaw_current:205.12]

Answer: CIRCLE: dx:0.39; dy:-0.35; dz:0.00; yaw:40.12;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, bench x:13.00 y:2.31 z:0.08], yaw_start:40.12, yaw_current:220.12]

Answer: CIRCLE: dx:0.46; dy:-0.24; dz:0.00; yaw:55.12;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:13.23 y:-0.62 z:0.07], yaw_start:40.12, yaw_current:235.12]

Answer: CIRCLE: dx:0.51; dy:-0.11; dz:0.00; yaw:70.12;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:12.68 y:-3.51 z:0.07], yaw_start:40.12, yaw_current:250.12]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:85.12;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:11.09 y:-6.91 z:-0.24], yaw_start:40.12, yaw_current:265.12]

Answer: CIRCLE: dx:0.50; dy:0.16; dz:0.00; yaw:100.12;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:40.12, yaw_current:280.12]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:115.12;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:40.12, yaw_current:295.12]

Answer: CIRCLE: dx:0.35; dy:0.39; dz:0.00; yaw:130.12;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:40.12, yaw_current:310.12]

Answer: CIRCLE: dx:0.24; dy:0.46; dz:0.00; yaw:145.12;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:40.12, yaw_current:325.12]

Answer: CIRCLE: dx:0.11; dy:0.51; dz:0.00; yaw:160.12;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:40.12, yaw_current:340.12]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:175.12;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:40.12, yaw_current:355.12]

Answer: CIRCLE: dx:-0.16; dy:0.50; dz:0.00; yaw:-169.88;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:40.12, yaw_current:10.12]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-154.88;


Context: [drone_absolute_movement x:-5.48 y:-4.76 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:5.48; dy:4.76;


Context: [objects_distance_from_drone[pedestrian x:9.13 y:-0.06 z:0.76]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:7.90 y:-1.72 z:0.35]]

Answer: MOVE: x:3.90; y:-1.72; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.23], yaw_start:28.73, yaw_current:13.73]

Answer: CIRCLE: dx:-0.62; dy:0.84; dz:0.00; yaw:-151.27;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.01 z:0.35], yaw_start:28.73, yaw_current:28.73]

Answer: CIRCLE: dx:-0.81; dy:0.65; dz:0.00; yaw:-136.27;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.10 z:0.35], yaw_start:28.73, yaw_current:43.73]

Answer: CIRCLE: dx:-0.96; dy:0.42; dz:0.00; yaw:-121.27;


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:0.20 z:0.35], yaw_start:28.73, yaw_current:58.73]

Answer: CIRCLE: dx:-1.03; dy:0.16; dz:0.00; yaw:-106.27;


Context: [objects_distance_from_drone[BMW X5 x:4.18 y:0.31 z:0.35], yaw_start:28.73, yaw_current:73.73]

Answer: CIRCLE: dx:-1.04; dy:-0.11; dz:0.00; yaw:-91.27;


Context: [objects_distance_from_drone[BMW X5 x:4.20 y:0.32 z:0.35], yaw_start:28.73, yaw_current:88.73]

Answer: CIRCLE: dx:-0.97; dy:-0.38; dz:0.00; yaw:-76.27;


Context: [objects_distance_from_drone[BMW X5 x:4.18 y:0.25 z:0.34], yaw_start:28.73, yaw_current:103.73]

Answer: CIRCLE: dx:-0.84; dy:-0.62; dz:0.00; yaw:-61.27;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.07 z:0.34], yaw_start:28.73, yaw_current:118.73]

Answer: CIRCLE: dx:-0.65; dy:-0.81; dz:0.00; yaw:-46.27;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:-0.41 z:0.34], yaw_start:28.73, yaw_current:133.73]

Answer: CIRCLE: dx:-0.42; dy:-0.96; dz:0.00; yaw:-31.27;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.31 z:0.34], yaw_start:28.73, yaw_current:148.73]

Answer: CIRCLE: dx:-0.16; dy:-1.03; dz:0.00; yaw:-16.27;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:-0.36 z:0.37], yaw_start:28.73, yaw_current:163.73]

Answer: CIRCLE: dx:0.11; dy:-1.04; dz:0.00; yaw:-1.27;


Context: [objects_distance_from_drone[pedestrian x:15.29 y:6.90 z:0.35, BMW X5 x:3.87 y:-0.63 z:0.43], yaw_start:28.73, yaw_current:178.73]

Answer: CIRCLE: dx:0.38; dy:-0.97; dz:0.00; yaw:13.73;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.69 z:0.46], yaw_start:28.73, yaw_current:193.73]

Answer: CIRCLE: dx:0.62; dy:-0.84; dz:0.00; yaw:28.73;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.63 z:0.50, bench x:8.04 y:5.59 z:0.08], yaw_start:28.73, yaw_current:208.73]

Answer: CIRCLE: dx:0.81; dy:-0.65; dz:0.00; yaw:43.73;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:-0.48 z:0.50, bench x:9.43 y:3.51 z:0.08], yaw_start:28.73, yaw_current:223.73]

Answer: CIRCLE: dx:0.96; dy:-0.42; dz:0.00; yaw:58.73;


Context: [objects_distance_from_drone[BMW X5 x:3.72 y:-0.15 z:0.49], yaw_start:28.73, yaw_current:238.73]

Answer: CIRCLE: dx:1.03; dy:-0.16; dz:0.00; yaw:73.73;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:0.12 z:0.52], yaw_start:28.73, yaw_current:253.73]

Answer: CIRCLE: dx:1.04; dy:0.11; dz:0.00; yaw:88.73;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.30 z:0.52], yaw_start:28.73, yaw_current:268.73]

Answer: CIRCLE: dx:0.97; dy:0.38; dz:0.00; yaw:103.73;


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:0.36 z:0.49], yaw_start:28.73, yaw_current:283.73]

Answer: CIRCLE: dx:0.84; dy:0.62; dz:0.00; yaw:118.73;


Context: [objects_distance_from_drone[BMW X5 x:3.59 y:0.24 z:0.46], yaw_start:28.73, yaw_current:298.73]

Answer: CIRCLE: dx:0.65; dy:0.81; dz:0.00; yaw:133.73;


Context: [objects_distance_from_drone[BMW X5 x:3.59 y:0.09 z:0.40], yaw_start:28.73, yaw_current:313.73]

Answer: CIRCLE: dx:0.42; dy:0.96; dz:0.00; yaw:148.73;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.35 z:0.35], yaw_start:28.73, yaw_current:328.73]

Answer: CIRCLE: dx:0.16; dy:1.03; dz:0.00; yaw:163.73;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:0.42 z:0.35], yaw_start:28.73, yaw_current:343.73]

Answer: CIRCLE: dx:-0.11; dy:1.04; dz:0.00; yaw:178.73;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:0.21 z:0.35], yaw_start:28.73, yaw_current:358.73]

Answer: CIRCLE: dx:-0.38; dy:0.97; dz:0.00; yaw:-166.27;


Context: [drone_absolute_movement x:-3.54 y:-1.93 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.02 z:0.35]]

Answer: RETURN: dx:3.54; dy:1.93;


Context: [objects_distance_from_drone[BMW X5 x:7.92 y:0.16 z:0.55]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:11.67 y:-5.42 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:11.66 y:-5.40 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:13.02 y:-1.22 z:-0.14, bench x:9.34 y:-2.72 z:0.08]]

Answer: MOVE: x:11.02; y:-1.22; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:28.13, yaw_current:13.13]

Answer: CIRCLE: dx:-0.30; dy:0.42; dz:0.00; yaw:-151.87;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:28.13, yaw_current:28.13]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-136.87;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:28.13, yaw_current:43.13]

Answer: CIRCLE: dx:-0.48; dy:0.22; dz:0.00; yaw:-121.87;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.02 z:-0.14], yaw_start:28.13, yaw_current:58.13]

Answer: CIRCLE: dx:-0.52; dy:0.09; dz:0.00; yaw:-106.87;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.02 z:-0.14], yaw_start:28.13, yaw_current:73.13]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-91.87;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:28.13, yaw_current:88.13]

Answer: CIRCLE: dx:-0.49; dy:-0.18; dz:0.00; yaw:-76.87;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, oil barrel x:9.66 y:2.52 z:-0.07], yaw_start:28.13, yaw_current:103.13]

Answer: CIRCLE: dx:-0.42; dy:-0.30; dz:0.00; yaw:-61.87;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.04 z:-0.14], yaw_start:28.13, yaw_current:118.13]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-46.87;


Context: [objects_distance_from_drone[BMW X5 x:21.39 y:11.81 z:0.02, dog x:1.96 y:-0.05 z:-0.14, oil barrel x:9.89 y:-1.66 z:-0.07], yaw_start:28.13, yaw_current:133.13]

Answer: CIRCLE: dx:-0.22; dy:-0.48; dz:0.00; yaw:-31.87;


Context: [objects_distance_from_drone[BMW X5 x:24.02 y:6.82 z:0.35, dog x:1.97 y:-0.05 z:-0.14, oil barrel x:9.20 y:-3.65 z:-0.07], yaw_start:28.13, yaw_current:148.13]

Answer: CIRCLE: dx:-0.09; dy:-0.52; dz:0.00; yaw:-16.87;


Context: [objects_distance_from_drone[BMW X5 x:25.04 y:0.88 z:0.35, dog x:1.96 y:-0.03 z:-0.14], yaw_start:28.13, yaw_current:163.13]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-1.87;


Context: [objects_distance_from_drone[BMW X5 x:24.48 y:-5.12 z:0.34, dog x:1.95 y:-0.01 z:-0.14, bench x:4.58 y:3.37 z:0.08], yaw_start:28.13, yaw_current:178.13]

Answer: CIRCLE: dx:0.18; dy:-0.49; dz:0.00; yaw:13.13;


Context: [objects_distance_from_drone[BMW X5 x:23.06 y:-10.47 z:0.33, dog x:1.94 y:-0.01 z:-0.14, bench x:5.35 y:2.06 z:0.08], yaw_start:28.13, yaw_current:193.13]

Answer: CIRCLE: dx:0.30; dy:-0.42; dz:0.00; yaw:28.13;


Context: [objects_distance_from_drone[pedestrian x:20.25 y:-2.53 z:0.34, dog x:1.93 y:-0.01 z:-0.14], yaw_start:28.13, yaw_current:208.13]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:43.13;


Context: [objects_distance_from_drone[pedestrian x:18.98 y:-7.17 z:0.34, dog x:1.93 y:-0.00 z:-0.14], yaw_start:28.13, yaw_current:223.13]

Answer: CIRCLE: dx:0.48; dy:-0.22; dz:0.00; yaw:58.13;


Context: [objects_distance_from_drone[dog x:1.93 y:0.00 z:-0.14, bench x:5.73 y:-1.17 z:0.07], yaw_start:28.13, yaw_current:238.13]

Answer: CIRCLE: dx:0.52; dy:-0.09; dz:0.00; yaw:73.13;


Context: [objects_distance_from_drone[dog x:1.95 y:0.00 z:-0.14, bench x:5.14 y:-2.48 z:0.07], yaw_start:28.13, yaw_current:253.13]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:88.13;


Context: [objects_distance_from_drone[dog x:1.97 y:0.01 z:-0.14, bench x:4.31 y:-3.73 z:0.07], yaw_start:28.13, yaw_current:268.13]

Answer: CIRCLE: dx:0.49; dy:0.18; dz:0.00; yaw:103.13;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:28.13, yaw_current:283.13]

Answer: CIRCLE: dx:0.42; dy:0.30; dz:0.00; yaw:118.13;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:28.13, yaw_current:298.13]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:133.13;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:28.13, yaw_current:313.13]

Answer: CIRCLE: dx:0.22; dy:0.48; dz:0.00; yaw:148.13;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:28.13, yaw_current:328.13]

Answer: CIRCLE: dx:0.09; dy:0.52; dz:0.00; yaw:163.13;


Context: [objects_distance_from_drone[dog x:1.98 y:0.01 z:-0.14], yaw_start:28.13, yaw_current:343.13]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:178.13;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:28.13, yaw_current:358.13]

Answer: CIRCLE: dx:-0.18; dy:0.49; dz:0.00; yaw:-166.87;


Context: [drone_absolute_movement x:-9.72 y:-5.24 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:9.72; dy:5.24;


Context: [objects_distance_from_drone[dog x:12.94 y:-0.26 z:-0.17, bench x:9.39 y:-2.03 z:0.08]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:14.32 y:-6.20 z:-0.14, bench x:11.72 y:1.05 z:0.08, oil barrel x:7.24 y:2.80 z:-0.07]]

Answer: MOVE: x:9.72; y:1.05; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:0.00 z:0.05], yaw_start:246.15, yaw_current:231.15]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:66.15;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.04 z:0.07], yaw_start:246.15, yaw_current:246.15]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.15;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.19 z:0.07], yaw_start:246.15, yaw_current:261.15]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:96.15;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.25 z:0.08], yaw_start:246.15, yaw_current:276.15]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:111.15;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.24 z:0.10], yaw_start:246.15, yaw_current:291.15]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:126.15;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.20 z:0.12], yaw_start:246.15, yaw_current:306.15]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.15;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.12 z:0.14], yaw_start:246.15, yaw_current:321.15]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:156.15;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.04 z:0.13], yaw_start:246.15, yaw_current:336.15]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.15;


Context: [objects_distance_from_drone[bench x:1.87 y:0.03 z:0.13], yaw_start:246.15, yaw_current:351.15]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-173.85;


Context: [objects_distance_from_drone[bench x:1.84 y:0.07 z:0.13], yaw_start:246.15, yaw_current:6.15]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-158.85;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.01 z:0.13], yaw_start:246.15, yaw_current:21.15]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-143.85;


Context: [objects_distance_from_drone[bench x:1.79 y:-0.09 z:0.13], yaw_start:246.15, yaw_current:36.15]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.85;


Context: [objects_distance_from_drone[bench x:1.78 y:-0.01 z:0.09], yaw_start:246.15, yaw_current:51.15]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-113.85;


Context: [objects_distance_from_drone[bench x:1.78 y:0.05 z:0.13], yaw_start:246.15, yaw_current:66.15]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.85;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.03 z:0.15], yaw_start:246.15, yaw_current:81.15]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-83.85;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.09 z:0.14], yaw_start:246.15, yaw_current:96.15]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-68.85;


Context: [objects_distance_from_drone[pedestrian x:19.28 y:-8.23 z:0.33, bench x:1.88 y:-0.05 z:0.13], yaw_start:246.15, yaw_current:111.15]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-53.85;


Context: [objects_distance_from_drone[dog x:8.63 y:3.68 z:-0.25, bench x:1.89 y:0.02 z:0.13], yaw_start:246.15, yaw_current:126.15]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.85;


Context: [objects_distance_from_drone[bench x:1.91 y:0.11 z:0.13], yaw_start:246.15, yaw_current:141.15]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-23.85;


Context: [objects_distance_from_drone[bench x:1.97 y:0.18 z:0.11], yaw_start:246.15, yaw_current:156.15]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.85;


Context: [objects_distance_from_drone[bench x:1.99 y:0.22 z:0.10], yaw_start:246.15, yaw_current:171.15]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:6.15;


Context: [objects_distance_from_drone[dog x:8.74 y:-3.72 z:-0.14, bench x:1.99 y:0.22 z:0.07], yaw_start:246.15, yaw_current:186.15]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:21.15;


Context: [objects_distance_from_drone[bench x:1.99 y:0.14 z:0.07], yaw_start:246.15, yaw_current:201.15]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:36.15;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.01 z:0.07], yaw_start:246.15, yaw_current:216.15]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.15;


Context: [drone_absolute_movement x:3.93 y:8.89 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.01 z:0.07]]

Answer: RETURN: dx:-3.93; dy:-8.89;


Context: [objects_distance_from_drone[bench x:11.67 y:-0.36 z:0.10, oil barrel x:7.43 y:1.92 z:-0.08]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:6.37 y:-0.53 z:0.34]]

Answer: MOVE: x:4.37; y:-0.53; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.10 y:-0.00 z:0.11], yaw_start:105.99, yaw_current:90.99]

Answer: CIRCLE: dx:-0.48; dy:-0.21; dz:0.00; yaw:-74.01;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:105.99]

Answer: CIRCLE: dx:-0.41; dy:-0.32; dz:0.00; yaw:-59.01;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:120.99]

Answer: CIRCLE: dx:-0.31; dy:-0.42; dz:0.00; yaw:-44.01;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:135.99]

Answer: CIRCLE: dx:-0.19; dy:-0.49; dz:0.00; yaw:-29.01;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:150.99]

Answer: CIRCLE: dx:-0.06; dy:-0.52; dz:0.00; yaw:-14.01;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:165.99]

Answer: CIRCLE: dx:0.08; dy:-0.52; dz:0.00; yaw:0.99;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:180.99]

Answer: CIRCLE: dx:0.21; dy:-0.48; dz:0.00; yaw:15.99;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09, bench x:17.29 y:6.49 z:0.08], yaw_start:105.99, yaw_current:195.99]

Answer: CIRCLE: dx:0.32; dy:-0.41; dz:0.00; yaw:30.99;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:17.55 y:8.85 z:0.02, dog x:12.57 y:4.20 z:-0.13, bench x:18.45 y:2.31 z:0.08], yaw_start:105.99, yaw_current:210.99]

Answer: CIRCLE: dx:0.42; dy:-0.31; dz:0.00; yaw:45.99;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:19.46 y:5.30 z:0.36, dog x:13.28 y:1.31 z:-0.14, bench x:18.48 y:-2.04 z:0.07], yaw_start:105.99, yaw_current:225.99]

Answer: CIRCLE: dx:0.49; dy:-0.19; dz:0.00; yaw:60.99;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:20.24 y:0.59 z:0.35, dog x:13.23 y:-1.67 z:-0.14, bench x:17.40 y:-6.24 z:0.07], yaw_start:105.99, yaw_current:240.99]

Answer: CIRCLE: dx:0.52; dy:-0.06; dz:0.00; yaw:75.99;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:19.78 y:-4.16 z:0.34, dog x:12.43 y:-4.54 z:-0.14], yaw_start:105.99, yaw_current:255.99]

Answer: CIRCLE: dx:0.52; dy:0.08; dz:0.00; yaw:90.99;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:18.79 y:-8.25 z:0.34], yaw_start:105.99, yaw_current:270.99]

Answer: CIRCLE: dx:0.48; dy:0.21; dz:0.00; yaw:105.99;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:105.99, yaw_current:285.99]

Answer: CIRCLE: dx:0.41; dy:0.32; dz:0.00; yaw:120.99;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:13.89 y:5.09 z:-0.06], yaw_start:105.99, yaw_current:300.99]

Answer: CIRCLE: dx:0.31; dy:0.42; dz:0.00; yaw:135.99;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:14.81 y:1.83 z:-0.07], yaw_start:105.99, yaw_current:315.99]

Answer: CIRCLE: dx:0.19; dy:0.49; dz:0.00; yaw:150.99;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:14.84 y:-1.56 z:-0.07], yaw_start:105.99, yaw_current:330.99]

Answer: CIRCLE: dx:0.06; dy:0.52; dz:0.00; yaw:165.99;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09, oil barrel x:14.00 y:-4.84 z:-0.08], yaw_start:105.99, yaw_current:345.99]

Answer: CIRCLE: dx:-0.08; dy:0.52; dz:0.00; yaw:-179.01;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:105.99, yaw_current:0.99]

Answer: CIRCLE: dx:-0.21; dy:0.48; dz:0.00; yaw:-164.01;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:105.99, yaw_current:15.99]

Answer: CIRCLE: dx:-0.32; dy:0.41; dz:0.00; yaw:-149.01;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:105.99, yaw_current:30.99]

Answer: CIRCLE: dx:-0.42; dy:0.31; dz:0.00; yaw:-134.01;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:105.99, yaw_current:45.99]

Answer: CIRCLE: dx:-0.49; dy:0.19; dz:0.00; yaw:-119.01;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:105.99, yaw_current:60.99]

Answer: CIRCLE: dx:-0.52; dy:0.06; dz:0.00; yaw:-104.01;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:105.99, yaw_current:75.99]

Answer: CIRCLE: dx:-0.52; dy:-0.08; dz:0.00; yaw:-89.01;


Context: [drone_absolute_movement x:1.26 y:-4.25 z:0.50, objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10]]

Answer: RETURN: dx:-1.26; dy:4.25;


Context: [objects_distance_from_drone[pedestrian x:6.33 y:-0.01 z:0.31]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:8.62 y:0.85 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:8.60 y:0.91 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:7.71 y:-1.13 z:0.35]]

Answer: MOVE: x:3.71; y:-1.13; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.01 z:0.31], yaw_start:355.22, yaw_current:340.22]

Answer: CIRCLE: dx:-0.05; dy:1.04; dz:0.00; yaw:175.22;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.09 z:0.35], yaw_start:355.22, yaw_current:355.22]

Answer: CIRCLE: dx:-0.32; dy:0.99; dz:0.00; yaw:-169.78;


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:0.27 z:0.35], yaw_start:355.22, yaw_current:10.22]

Answer: CIRCLE: dx:-0.56; dy:0.88; dz:0.00; yaw:-154.78;


Context: [objects_distance_from_drone[BMW X5 x:4.12 y:0.37 z:0.35], yaw_start:355.22, yaw_current:25.22]

Answer: CIRCLE: dx:-0.77; dy:0.70; dz:0.00; yaw:-139.78;


Context: [objects_distance_from_drone[BMW X5 x:4.14 y:0.38 z:0.35], yaw_start:355.22, yaw_current:40.22]

Answer: CIRCLE: dx:-0.93; dy:0.48; dz:0.00; yaw:-124.78;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.31 z:0.35], yaw_start:355.22, yaw_current:55.22]

Answer: CIRCLE: dx:-1.02; dy:0.22; dz:0.00; yaw:-109.78;


Context: [objects_distance_from_drone[dog x:0.39 y:-0.10 z:-0.01], yaw_start:355.22, yaw_current:70.22]

Answer: CIRCLE: dx:-1.04; dy:-0.05; dz:0.00; yaw:-94.78;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:-0.26 z:0.34], yaw_start:355.22, yaw_current:85.22]

Answer: CIRCLE: dx:-0.99; dy:-0.32; dz:0.00; yaw:-79.78;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.15 z:0.34], yaw_start:355.22, yaw_current:100.22]

Answer: CIRCLE: dx:-0.88; dy:-0.56; dz:0.00; yaw:-64.78;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.29 z:0.37], yaw_start:355.22, yaw_current:115.22]

Answer: CIRCLE: dx:-0.70; dy:-0.77; dz:0.00; yaw:-49.78;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.57 z:0.43], yaw_start:355.22, yaw_current:130.22]

Answer: CIRCLE: dx:-0.48; dy:-0.93; dz:0.00; yaw:-34.78;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.61 z:0.46], yaw_start:355.22, yaw_current:145.22]

Answer: CIRCLE: dx:-0.22; dy:-1.02; dz:0.00; yaw:-19.78;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.55 z:0.48], yaw_start:355.22, yaw_current:160.22]

Answer: CIRCLE: dx:0.05; dy:-1.04; dz:0.00; yaw:-4.78;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:-0.40 z:0.48], yaw_start:355.22, yaw_current:175.22]

Answer: CIRCLE: dx:0.32; dy:-0.99; dz:0.00; yaw:10.22;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.11 z:0.48], yaw_start:355.22, yaw_current:190.22]

Answer: CIRCLE: dx:0.56; dy:-0.88; dz:0.00; yaw:25.22;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.12 z:0.51], yaw_start:355.22, yaw_current:205.22]

Answer: CIRCLE: dx:0.77; dy:-0.70; dz:0.00; yaw:40.22;


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:0.26 z:0.50], yaw_start:355.22, yaw_current:220.22]

Answer: CIRCLE: dx:0.93; dy:-0.48; dz:0.00; yaw:55.22;


Context: [objects_distance_from_drone[BMW X5 x:3.70 y:0.23 z:0.47], yaw_start:355.22, yaw_current:235.22]

Answer: CIRCLE: dx:1.02; dy:-0.22; dz:0.00; yaw:70.22;


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:0.08 z:0.44], yaw_start:355.22, yaw_current:250.22]

Answer: CIRCLE: dx:1.04; dy:0.05; dz:0.00; yaw:85.22;


Context: [objects_distance_from_drone[BMW X5 x:3.63 y:0.00 z:0.38], yaw_start:355.22, yaw_current:265.22]

Answer: CIRCLE: dx:0.99; dy:0.32; dz:0.00; yaw:100.22;


Context: [objects_distance_from_drone[BMW X5 x:3.68 y:0.26 z:0.35], yaw_start:355.22, yaw_current:280.22]

Answer: CIRCLE: dx:0.88; dy:0.56; dz:0.00; yaw:115.22;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:0.25 z:0.35], yaw_start:355.22, yaw_current:295.22]

Answer: CIRCLE: dx:0.70; dy:0.77; dz:0.00; yaw:130.22;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:0.05 z:0.34], yaw_start:355.22, yaw_current:310.22]

Answer: CIRCLE: dx:0.48; dy:0.93; dz:0.00; yaw:145.22;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.10 z:0.35], yaw_start:355.22, yaw_current:325.22]

Answer: CIRCLE: dx:0.22; dy:1.02; dz:0.00; yaw:160.22;


Context: [drone_absolute_movement x:-3.77 y:0.24 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.03 z:0.35]]

Answer: RETURN: dx:3.77; dy:-0.24;


Context: [objects_distance_from_drone[BMW X5 x:7.68 y:0.17 z:0.39, dog x:7.84 y:-3.42 z:-0.09]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:3.78 y:3.21 z:0.35, dog x:13.07 y:-1.18 z:-0.14]]

Answer: MOVE: x:11.07; y:-1.18; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:38.79, yaw_current:23.79]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-141.21;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.03 z:-0.14], yaw_start:38.79, yaw_current:38.79]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.21;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.04 z:-0.14], yaw_start:38.79, yaw_current:53.79]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-111.21;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.07 z:-0.14], yaw_start:38.79, yaw_current:68.79]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.21;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.06 z:-0.14], yaw_start:38.79, yaw_current:83.79]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-81.21;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.05 z:-0.14], yaw_start:38.79, yaw_current:98.79]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.21;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:38.79, yaw_current:113.79]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-51.21;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.05 z:-0.14], yaw_start:38.79, yaw_current:128.79]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.21;


Context: [objects_distance_from_drone[BMW X5 x:9.77 y:4.29 z:0.43, dog x:1.93 y:-0.05 z:-0.14, bench x:18.30 y:6.07 z:0.08], yaw_start:38.79, yaw_current:143.79]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-21.21;


Context: [objects_distance_from_drone[BMW X5 x:9.94 y:5.68 z:0.35, dog x:1.92 y:-0.05 z:-0.14], yaw_start:38.79, yaw_current:158.79]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.21;


Context: [objects_distance_from_drone[dog x:1.91 y:-0.04 z:-0.14], yaw_start:38.79, yaw_current:173.79]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:8.79;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.03 z:-0.14, bench x:17.77 y:-7.32 z:0.07], yaw_start:38.79, yaw_current:188.79]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.79;


Context: [objects_distance_from_drone[pedestrian x:25.44 y:7.64 z:0.35, BMW X5 x:11.33 y:-2.62 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:38.79, yaw_current:203.79]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:38.79;


Context: [objects_distance_from_drone[pedestrian x:26.63 y:1.30 z:0.35, BMW X5 x:10.18 y:-5.83 z:0.34, dog x:1.93 y:0.01 z:-0.14], yaw_start:38.79, yaw_current:218.79]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.79;


Context: [objects_distance_from_drone[pedestrian x:26.13 y:-5.12 z:0.34, BMW X5 x:8.39 y:-3.97 z:0.54, dog x:1.93 y:0.02 z:-0.14, oil barrel x:7.68 y:3.08 z:-0.07], yaw_start:38.79, yaw_current:233.79]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:68.79;


Context: [objects_distance_from_drone[pedestrian x:23.98 y:-10.67 z:0.33, dog x:1.93 y:0.05 z:-0.14, oil barrel x:8.29 y:1.50 z:-0.07], yaw_start:38.79, yaw_current:248.79]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.79;


Context: [objects_distance_from_drone[dog x:1.94 y:0.04 z:-0.14], yaw_start:38.79, yaw_current:263.79]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:98.79;


Context: [objects_distance_from_drone[dog x:1.95 y:0.03 z:-0.14, oil barrel x:8.19 y:-1.86 z:-0.07], yaw_start:38.79, yaw_current:278.79]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.79;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, oil barrel x:7.50 y:-3.29 z:-0.07], yaw_start:38.79, yaw_current:293.79]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:128.79;


Context: [objects_distance_from_drone[dog x:1.99 y:0.03 z:-0.14], yaw_start:38.79, yaw_current:308.79]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.79;


Context: [objects_distance_from_drone[dog x:2.01 y:0.03 z:-0.14], yaw_start:38.79, yaw_current:323.79]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:158.79;


Context: [objects_distance_from_drone[dog x:2.03 y:0.03 z:-0.14], yaw_start:38.79, yaw_current:338.79]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.79;


Context: [objects_distance_from_drone[dog x:2.02 y:0.02 z:-0.14], yaw_start:38.79, yaw_current:353.79]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-171.21;


Context: [objects_distance_from_drone[dog x:2.00 y:0.01 z:-0.14], yaw_start:38.79, yaw_current:8.79]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.21;


Context: [drone_absolute_movement x:-8.63 y:-6.98 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:8.63; dy:6.98;


Context: [objects_distance_from_drone[BMW X5 x:3.27 y:3.50 z:0.50, dog x:13.00 y:-0.27 z:0.32]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:9.57 y:-2.37 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:9.57 y:-2.31 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:13.52 y:1.30 z:0.08]]

Answer: MOVE: x:11.52; y:1.30; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:-0.05 z:-0.03], yaw_start:294.15, yaw_current:279.15]

Answer: CIRCLE: dx:0.44; dy:0.27; dz:0.00; yaw:114.15;


Context: [objects_distance_from_drone[bench x:2.05 y:-0.03 z:0.07], yaw_start:294.15, yaw_current:294.15]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.15;


Context: [objects_distance_from_drone[bench x:2.07 y:-0.09 z:0.08], yaw_start:294.15, yaw_current:309.15]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:144.15;


Context: [objects_distance_from_drone[bench x:2.08 y:-0.09 z:0.10], yaw_start:294.15, yaw_current:324.15]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.15;


Context: [objects_distance_from_drone[bench x:2.08 y:-0.07 z:0.12], yaw_start:294.15, yaw_current:339.15]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.15;


Context: [objects_distance_from_drone[bench x:2.03 y:-0.06 z:0.13], yaw_start:294.15, yaw_current:354.15]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.85;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.04 z:0.13], yaw_start:294.15, yaw_current:9.15]

Answer: CIRCLE: dx:-0.27; dy:0.44; dz:0.00; yaw:-155.85;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.02 z:0.13], yaw_start:294.15, yaw_current:24.15]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.85;


Context: [objects_distance_from_drone[bench x:1.97 y:-0.07 z:0.13], yaw_start:294.15, yaw_current:39.15]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-125.85;


Context: [objects_distance_from_drone[bench x:1.92 y:-0.20 z:0.13], yaw_start:294.15, yaw_current:54.15]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.85;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.27 z:0.09], yaw_start:294.15, yaw_current:69.15]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.85;


Context: [objects_distance_from_drone[bench x:1.80 y:-0.19 z:0.11], yaw_start:294.15, yaw_current:84.15]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.85;


Context: [objects_distance_from_drone[bench x:1.76 y:-0.20 z:0.16], yaw_start:294.15, yaw_current:99.15]

Answer: CIRCLE: dx:-0.44; dy:-0.27; dz:0.00; yaw:-65.85;


Context: [objects_distance_from_drone[BMW X5 x:13.49 y:6.33 z:0.48, bench x:1.75 y:-0.28 z:0.15], yaw_start:294.15, yaw_current:114.15]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.85;


Context: [objects_distance_from_drone[bench x:1.77 y:-0.24 z:0.14], yaw_start:294.15, yaw_current:129.15]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-35.85;


Context: [objects_distance_from_drone[bench x:1.78 y:-0.16 z:0.13], yaw_start:294.15, yaw_current:144.15]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.85;


Context: [objects_distance_from_drone[bench x:1.79 y:-0.05 z:0.13], yaw_start:294.15, yaw_current:159.15]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.85;


Context: [objects_distance_from_drone[BMW X5 x:14.24 y:-4.22 z:0.34, bench x:1.81 y:0.12 z:0.13], yaw_start:294.15, yaw_current:174.15]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.15;


Context: [objects_distance_from_drone[BMW X5 x:13.14 y:-6.55 z:0.00, bench x:1.85 y:0.22 z:0.11], yaw_start:294.15, yaw_current:189.15]

Answer: CIRCLE: dx:0.27; dy:-0.44; dz:0.00; yaw:24.15;


Context: [objects_distance_from_drone[bench x:1.85 y:0.29 z:0.09], yaw_start:294.15, yaw_current:204.15]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.15;


Context: [objects_distance_from_drone[bench x:1.84 y:0.32 z:0.06], yaw_start:294.15, yaw_current:219.15]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:54.15;


Context: [objects_distance_from_drone[bench x:1.87 y:0.24 z:0.06], yaw_start:294.15, yaw_current:234.15]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.15;


Context: [objects_distance_from_drone[bench x:1.90 y:0.16 z:0.07], yaw_start:294.15, yaw_current:249.15]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.15;


Context: [objects_distance_from_drone[bench x:1.98 y:0.21 z:0.07], yaw_start:294.15, yaw_current:264.15]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.15;


Context: [drone_absolute_movement x:-5.17 y:10.31 z:0.50, objects_distance_from_drone[bench x:2.01 y:0.12 z:0.07]]

Answer: RETURN: dx:5.17; dy:-10.31;


Context: [objects_distance_from_drone[bench x:13.48 y:0.30 z:-0.00]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:13.49 y:1.22 z:0.34]]

Answer: MOVE: x:11.49; y:1.22; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.11], yaw_start:246.79, yaw_current:231.79]

Answer: CIRCLE: dx:0.50; dy:-0.14; dz:0.00; yaw:66.79;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:246.79, yaw_current:246.79]

Answer: CIRCLE: dx:0.52; dy:-0.01; dz:0.00; yaw:81.79;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:246.79, yaw_current:261.79]

Answer: CIRCLE: dx:0.51; dy:0.13; dz:0.00; yaw:96.79;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:246.79, yaw_current:276.79]

Answer: CIRCLE: dx:0.46; dy:0.26; dz:0.00; yaw:111.79;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:246.79, yaw_current:291.79]

Answer: CIRCLE: dx:0.37; dy:0.36; dz:0.00; yaw:126.79;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:246.79, yaw_current:306.79]

Answer: CIRCLE: dx:0.27; dy:0.45; dz:0.00; yaw:141.79;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:9.11 y:3.89 z:0.51], yaw_start:246.79, yaw_current:321.79]

Answer: CIRCLE: dx:0.14; dy:0.50; dz:0.00; yaw:156.79;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:10.60 y:5.37 z:0.35], yaw_start:246.79, yaw_current:336.79]

Answer: CIRCLE: dx:0.01; dy:0.52; dz:0.00; yaw:171.79;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:11.61 y:2.11 z:0.35], yaw_start:246.79, yaw_current:351.79]

Answer: CIRCLE: dx:-0.13; dy:0.51; dz:0.00; yaw:-173.21;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:11.83 y:-0.46 z:0.34], yaw_start:246.79, yaw_current:6.79]

Answer: CIRCLE: dx:-0.26; dy:0.46; dz:0.00; yaw:-158.21;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:11.38 y:-3.04 z:0.34], yaw_start:246.79, yaw_current:21.79]

Answer: CIRCLE: dx:-0.36; dy:0.37; dz:0.00; yaw:-143.21;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:10.02 y:-4.87 z:0.34, dog x:23.59 y:10.36 z:-0.13], yaw_start:246.79, yaw_current:36.79]

Answer: CIRCLE: dx:-0.45; dy:0.27; dz:0.00; yaw:-128.21;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:25.55 y:4.42 z:-0.13, bench x:20.19 y:5.82 z:0.08], yaw_start:246.79, yaw_current:51.79]

Answer: CIRCLE: dx:-0.50; dy:0.14; dz:0.00; yaw:-113.21;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:25.88 y:-1.83 z:-0.14, bench x:21.08 y:0.91 z:0.07], yaw_start:246.79, yaw_current:66.79]

Answer: CIRCLE: dx:-0.52; dy:0.01; dz:0.00; yaw:-98.21;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, dog x:24.59 y:-7.95 z:-0.14, bench x:20.67 y:-4.07 z:0.07, oil barrel x:9.74 y:3.34 z:-0.07], yaw_start:246.79, yaw_current:81.79]

Answer: CIRCLE: dx:-0.51; dy:-0.13; dz:0.00; yaw:-83.21;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:18.97 y:-9.05 z:0.06, oil barrel x:10.34 y:1.21 z:-0.07], yaw_start:246.79, yaw_current:96.79]

Answer: CIRCLE: dx:-0.46; dy:-0.26; dz:0.00; yaw:-68.21;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:10.37 y:-1.00 z:-0.07], yaw_start:246.79, yaw_current:111.79]

Answer: CIRCLE: dx:-0.37; dy:-0.36; dz:0.00; yaw:-53.21;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:9.83 y:-3.14 z:-0.07], yaw_start:246.79, yaw_current:126.79]

Answer: CIRCLE: dx:-0.27; dy:-0.45; dz:0.00; yaw:-38.21;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:246.79, yaw_current:141.79]

Answer: CIRCLE: dx:-0.14; dy:-0.50; dz:0.00; yaw:-23.21;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:246.79, yaw_current:156.79]

Answer: CIRCLE: dx:-0.01; dy:-0.52; dz:0.00; yaw:-8.21;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:246.79, yaw_current:171.79]

Answer: CIRCLE: dx:0.13; dy:-0.51; dz:0.00; yaw:6.79;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:246.79, yaw_current:186.79]

Answer: CIRCLE: dx:0.26; dy:-0.46; dz:0.00; yaw:21.79;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:246.79, yaw_current:201.79]

Answer: CIRCLE: dx:0.36; dy:-0.37; dz:0.00; yaw:36.79;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:246.79, yaw_current:216.79]

Answer: CIRCLE: dx:0.45; dy:-0.27; dz:0.00; yaw:51.79;


Context: [drone_absolute_movement x:4.93 y:10.45 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-4.93; dy:-10.45;


Context: [objects_distance_from_drone[pedestrian x:13.44 y:-0.73 z:0.55]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.43 y:1.93 z:0.35]]

Answer: MOVE: x:6.43; y:1.93; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.01 z:0.39], yaw_start:218.53, yaw_current:203.53]

Answer: CIRCLE: dx:0.75; dy:-0.72; dz:0.00; yaw:38.53;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:0.00 z:0.46], yaw_start:218.53, yaw_current:218.53]

Answer: CIRCLE: dx:0.91; dy:-0.51; dz:0.00; yaw:53.53;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.09 z:0.45, oil barrel x:5.89 y:-2.74 z:-0.07], yaw_start:218.53, yaw_current:233.53]

Answer: CIRCLE: dx:1.01; dy:-0.25; dz:0.00; yaw:68.53;


Context: [objects_distance_from_drone[BMW X5 x:4.15 y:0.18 z:0.41], yaw_start:218.53, yaw_current:248.53]

Answer: CIRCLE: dx:1.04; dy:0.02; dz:0.00; yaw:83.53;


Context: [objects_distance_from_drone[BMW X5 x:4.19 y:0.29 z:0.43], yaw_start:218.53, yaw_current:263.53]

Answer: CIRCLE: dx:1.00; dy:0.29; dz:0.00; yaw:98.53;


Context: [objects_distance_from_drone[BMW X5 x:4.20 y:0.31 z:0.43], yaw_start:218.53, yaw_current:278.53]

Answer: CIRCLE: dx:0.89; dy:0.54; dz:0.00; yaw:113.53;


Context: [objects_distance_from_drone[BMW X5 x:4.18 y:0.25 z:0.41], yaw_start:218.53, yaw_current:293.53]

Answer: CIRCLE: dx:0.72; dy:0.75; dz:0.00; yaw:128.53;


Context: [objects_distance_from_drone[BMW X5 x:4.11 y:-0.05 z:0.36], yaw_start:218.53, yaw_current:308.53]

Answer: CIRCLE: dx:0.51; dy:0.91; dz:0.00; yaw:143.53;


Context: [objects_distance_from_drone[BMW X5 x:4.05 y:-0.39 z:0.34], yaw_start:218.53, yaw_current:323.53]

Answer: CIRCLE: dx:0.25; dy:1.01; dz:0.00; yaw:158.53;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.33 z:0.35], yaw_start:218.53, yaw_current:338.53]

Answer: CIRCLE: dx:-0.02; dy:1.04; dz:0.00; yaw:173.53;


Context: [objects_distance_from_drone[oil barrel x:0.39 y:-0.02 z:-0.01], yaw_start:218.53, yaw_current:353.53]

Answer: CIRCLE: dx:-0.29; dy:1.00; dz:0.00; yaw:-171.47;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.61 z:0.35], yaw_start:218.53, yaw_current:8.53]

Answer: CIRCLE: dx:-0.54; dy:0.89; dz:0.00; yaw:-156.47;


Context: [objects_distance_from_drone[BMW X5 x:3.87 y:-0.69 z:0.35], yaw_start:218.53, yaw_current:23.53]

Answer: CIRCLE: dx:-0.75; dy:0.72; dz:0.00; yaw:-141.47;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.63 z:0.35], yaw_start:218.53, yaw_current:38.53]

Answer: CIRCLE: dx:-0.91; dy:0.51; dz:0.00; yaw:-126.47;


Context: [objects_distance_from_drone[BMW X5 x:3.83 y:-0.49 z:0.35], yaw_start:218.53, yaw_current:53.53]

Answer: CIRCLE: dx:-1.01; dy:0.25; dz:0.00; yaw:-111.47;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:-0.16 z:0.35], yaw_start:218.53, yaw_current:68.53]

Answer: CIRCLE: dx:-1.04; dy:-0.02; dz:0.00; yaw:-96.47;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:0.12 z:0.34], yaw_start:218.53, yaw_current:83.53]

Answer: CIRCLE: dx:-1.00; dy:-0.29; dz:0.00; yaw:-81.47;


Context: [objects_distance_from_drone[BMW X5 x:3.74 y:0.30 z:0.35], yaw_start:218.53, yaw_current:98.53]

Answer: CIRCLE: dx:-0.89; dy:-0.54; dz:0.00; yaw:-66.47;


Context: [objects_distance_from_drone[BMW X5 x:3.67 y:0.39 z:0.34], yaw_start:218.53, yaw_current:113.53]

Answer: CIRCLE: dx:-0.72; dy:-0.75; dz:0.00; yaw:-51.47;


Context: [objects_distance_from_drone[BMW X5 x:3.61 y:0.26 z:0.34], yaw_start:218.53, yaw_current:128.53]

Answer: CIRCLE: dx:-0.51; dy:-0.91; dz:0.00; yaw:-36.47;


Context: [objects_distance_from_drone[BMW X5 x:3.58 y:0.12 z:0.35], yaw_start:218.53, yaw_current:143.53]

Answer: CIRCLE: dx:-0.25; dy:-1.01; dz:0.00; yaw:-21.47;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:0.34 z:0.34], yaw_start:218.53, yaw_current:158.53]

Answer: CIRCLE: dx:0.02; dy:-1.04; dz:0.00; yaw:-6.47;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:0.44 z:0.37], yaw_start:218.53, yaw_current:173.53]

Answer: CIRCLE: dx:0.29; dy:-1.00; dz:0.00; yaw:8.53;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:0.22 z:0.42], yaw_start:218.53, yaw_current:188.53]

Answer: CIRCLE: dx:0.54; dy:-0.89; dz:0.00; yaw:23.53;


Context: [drone_absolute_movement x:4.98 y:4.36 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.01 z:0.45]]

Answer: RETURN: dx:-4.98; dy:-4.36;


Context: [objects_distance_from_drone[BMW X5 x:10.48 y:0.56 z:0.77]]

Answer: LAND


Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:15.70 y:4.57 z:0.37, dog x:10.34 y:-2.43 z:-0.11, oil barrel x:8.58 y:3.53 z:-0.04]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:14.92 y:6.30 z:0.36, dog x:10.58 y:-0.96 z:-0.12]]

Answer: MOVE: x:8.58; y:-0.96; z:-0.12


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:110.77, yaw_current:95.77]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.23;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.02 z:-0.14], yaw_start:110.77, yaw_current:110.77]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.23;


Context: [objects_distance_from_drone[pedestrian x:9.15 y:4.21 z:0.35, dog x:1.98 y:-0.03 z:-0.14], yaw_start:110.77, yaw_current:125.77]

Answer: CIRCLE: dx:-0.27; dy:-0.44; dz:0.00; yaw:-39.23;


Context: [objects_distance_from_drone[pedestrian x:10.22 y:3.07 z:0.35, dog x:1.96 y:-0.04 z:-0.14], yaw_start:110.77, yaw_current:140.77]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.23;


Context: [objects_distance_from_drone[pedestrian x:10.74 y:0.83 z:0.34, dog x:1.95 y:-0.04 z:-0.14], yaw_start:110.77, yaw_current:155.77]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.23;


Context: [objects_distance_from_drone[pedestrian x:10.66 y:-1.47 z:0.34, dog x:1.97 y:-0.05 z:-0.14], yaw_start:110.77, yaw_current:170.77]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.77;


Context: [objects_distance_from_drone[pedestrian x:9.99 y:-3.60 z:0.34, dog x:1.97 y:-0.04 z:-0.14, oil barrel x:7.37 y:3.03 z:-0.06], yaw_start:110.77, yaw_current:185.77]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.77;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.03 z:-0.14, oil barrel x:7.97 y:1.53 z:-0.07], yaw_start:110.77, yaw_current:200.77]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.77;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.02 z:-0.14], yaw_start:110.77, yaw_current:215.77]

Answer: CIRCLE: dx:0.44; dy:-0.27; dz:0.00; yaw:50.77;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:7.94 y:-1.68 z:-0.07], yaw_start:110.77, yaw_current:230.77]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.77;


Context: [objects_distance_from_drone[dog x:1.93 y:0.00 z:-0.14, bench x:23.89 y:5.68 z:0.08, oil barrel x:7.30 y:-3.11 z:-0.07], yaw_start:110.77, yaw_current:245.77]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.77;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.00 z:-0.14], yaw_start:110.77, yaw_current:260.77]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.77;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, bench x:23.80 y:-6.04 z:0.07], yaw_start:110.77, yaw_current:275.77]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.77;


Context: [objects_distance_from_drone[BMW X5 x:14.52 y:6.90 z:0.35, dog x:1.95 y:0.00 z:-0.14], yaw_start:110.77, yaw_current:290.77]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.77;


Context: [objects_distance_from_drone[BMW X5 x:15.78 y:2.82 z:0.35, dog x:1.96 y:0.01 z:-0.14], yaw_start:110.77, yaw_current:305.77]

Answer: CIRCLE: dx:0.27; dy:0.44; dz:0.00; yaw:140.77;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:110.77, yaw_current:320.77]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.77;


Context: [objects_distance_from_drone[BMW X5 x:15.35 y:-4.48 z:0.34, dog x:1.99 y:0.03 z:-0.14], yaw_start:110.77, yaw_current:335.77]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.77;


Context: [objects_distance_from_drone[BMW X5 x:13.61 y:-7.41 z:0.34, dog x:1.97 y:0.03 z:-0.14], yaw_start:110.77, yaw_current:350.77]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.23;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:110.77, yaw_current:5.77]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.23;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:110.77, yaw_current:20.77]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.23;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.00 z:-0.14], yaw_start:110.77, yaw_current:35.77]

Answer: CIRCLE: dx:-0.44; dy:0.27; dz:0.00; yaw:-129.23;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:110.77, yaw_current:50.77]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.23;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.02 z:-0.14], yaw_start:110.77, yaw_current:65.77]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.23;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:110.77, yaw_current:80.77]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.23;


Context: [drone_absolute_movement x:2.84 y:-8.28 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-2.84; dy:8.28;


Context: [objects_distance_from_drone[pedestrian x:14.51 y:6.51 z:0.60, dog x:10.63 y:-0.65 z:0.06]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:6.80 y:0.61 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:6.80 y:0.61 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:5.07 y:0.42 z:0.08]]

Answer: MOVE: x:3.07; y:0.42; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:0.02 z:0.07], yaw_start:356.80, yaw_current:341.80]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:176.80;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.19 z:0.07], yaw_start:356.80, yaw_current:356.80]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.20;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.21 z:0.07], yaw_start:356.80, yaw_current:11.80]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.20;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.14 z:0.07], yaw_start:356.80, yaw_current:26.80]

Answer: CIRCLE: dx:-0.40; dy:0.34; dz:0.00; yaw:-138.20;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.24 z:0.07], yaw_start:356.80, yaw_current:41.80]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.20;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.28 z:0.08], yaw_start:356.80, yaw_current:56.80]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.20;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.25 z:0.10, oil barrel x:11.58 y:4.95 z:-0.06], yaw_start:356.80, yaw_current:71.80]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-93.20;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.17 z:0.11], yaw_start:356.80, yaw_current:86.80]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.20;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.06 z:0.13], yaw_start:356.80, yaw_current:101.80]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.20;