Context: [objects_distance_from_drone[pedestrian x:23.03 y:7.97 z:0.35, dog x:1.94 y:-0.01 z:-0.14, oil barrel x:26.56 y:-6.22 z:-0.07], yaw_start:244.79, yaw_current:49.79]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-115.21;


Context: [objects_distance_from_drone[BMW X5 x:21.14 y:-4.04 z:0.34, dog x:1.93 y:-0.01 z:-0.14, bench x:18.19 y:6.52 z:0.08], yaw_start:244.79, yaw_current:64.79]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-100.21;


Context: [objects_distance_from_drone[pedestrian x:24.20 y:-3.63 z:0.34, BMW X5 x:19.12 y:-9.57 z:0.34, dog x:1.93 y:-0.00 z:-0.14], yaw_start:244.79, yaw_current:79.79]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-85.21;


Context: [objects_distance_from_drone[pedestrian x:22.50 y:-9.26 z:0.33, dog x:1.92 y:0.00 z:-0.14], yaw_start:244.79, yaw_current:94.79]

Answer: CIRCLE: dx:-0.46; dy:-0.24; dz:0.00; yaw:-70.21;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14, bench x:18.06 y:-6.86 z:0.07], yaw_start:244.79, yaw_current:109.79]

Answer: CIRCLE: dx:-0.39; dy:-0.35; dz:0.00; yaw:-55.21;


Context: [objects_distance_from_drone[dog x:1.96 y:0.01 z:-0.14], yaw_start:244.79, yaw_current:124.79]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-40.21;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:244.79, yaw_current:139.79]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-25.21;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:244.79, yaw_current:154.79]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-10.21;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:244.79, yaw_current:169.79]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:4.79;


Context: [objects_distance_from_drone[dog x:1.98 y:0.04 z:-0.14], yaw_start:244.79, yaw_current:184.79]

Answer: CIRCLE: dx:0.24; dy:-0.46; dz:0.00; yaw:19.79;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:244.79, yaw_current:199.79]

Answer: CIRCLE: dx:0.35; dy:-0.39; dz:0.00; yaw:34.79;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.00 z:-0.14], yaw_start:244.79, yaw_current:214.79]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:49.79;


Context: [drone_absolute_movement x:4.53 y:9.73 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:-4.53; dy:-9.73;


Context: [objects_distance_from_drone[dog x:12.64 y:-0.10 z:-0.25]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:6.19 y:1.98 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:6.19 y:1.95 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:12.50 y:1.16 z:0.08]]

Answer: MOVE: x:10.50; y:1.16; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.02 z:0.01], yaw_start:329.40, yaw_current:314.40]

Answer: CIRCLE: dx:0.20; dy:0.48; dz:0.00; yaw:149.40;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.01 z:0.08], yaw_start:329.40, yaw_current:329.40]

Answer: CIRCLE: dx:0.07; dy:0.52; dz:0.00; yaw:164.40;


Context: [objects_distance_from_drone[bench x:2.03 y:0.02 z:0.10], yaw_start:329.40, yaw_current:344.40]

Answer: CIRCLE: dx:-0.06; dy:0.52; dz:0.00; yaw:179.40;


Context: [objects_distance_from_drone[bench x:2.03 y:0.04 z:0.13], yaw_start:329.40, yaw_current:359.40]

Answer: CIRCLE: dx:-0.19; dy:0.48; dz:0.00; yaw:-165.60;


Context: [objects_distance_from_drone[bench x:2.03 y:0.07 z:0.13], yaw_start:329.40, yaw_current:14.40]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-150.60;


Context: [objects_distance_from_drone[bench x:2.04 y:0.09 z:0.13], yaw_start:329.40, yaw_current:29.40]

Answer: CIRCLE: dx:-0.41; dy:0.32; dz:0.00; yaw:-135.60;


Context: [objects_distance_from_drone[bench x:2.04 y:0.07 z:0.13], yaw_start:329.40, yaw_current:44.40]

Answer: CIRCLE: dx:-0.48; dy:0.20; dz:0.00; yaw:-120.60;


Context: [objects_distance_from_drone[bench x:2.00 y:-0.05 z:0.13], yaw_start:329.40, yaw_current:59.40]

Answer: CIRCLE: dx:-0.52; dy:0.07; dz:0.00; yaw:-105.60;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.20 z:0.09], yaw_start:329.40, yaw_current:74.40]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-90.60;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.20 z:0.07], yaw_start:329.40, yaw_current:89.40]

Answer: CIRCLE: dx:-0.48; dy:-0.19; dz:0.00; yaw:-75.60;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.19 z:0.12], yaw_start:329.40, yaw_current:104.40]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-60.60;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.31 z:0.16], yaw_start:329.40, yaw_current:119.40]

Answer: CIRCLE: dx:-0.32; dy:-0.41; dz:0.00; yaw:-45.60;


Context: [objects_distance_from_drone[bench x:1.83 y:-0.33 z:0.15], yaw_start:329.40, yaw_current:134.40]

Answer: CIRCLE: dx:-0.20; dy:-0.48; dz:0.00; yaw:-30.60;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.29 z:0.13], yaw_start:329.40, yaw_current:149.40]

Answer: CIRCLE: dx:-0.07; dy:-0.52; dz:0.00; yaw:-15.60;


Context: [objects_distance_from_drone[bench x:1.82 y:-0.22 z:0.13, oil barrel x:18.25 y:5.17 z:-0.06], yaw_start:329.40, yaw_current:164.40]

Answer: CIRCLE: dx:0.06; dy:-0.52; dz:0.00; yaw:-0.60;


Context: [objects_distance_from_drone[bench x:1.81 y:-0.10 z:0.13], yaw_start:329.40, yaw_current:179.40]

Answer: CIRCLE: dx:0.19; dy:-0.48; dz:0.00; yaw:14.40;


Context: [objects_distance_from_drone[bench x:1.82 y:0.06 z:0.11], yaw_start:329.40, yaw_current:194.40]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:29.40;


Context: [objects_distance_from_drone[bench x:1.82 y:0.16 z:0.10, oil barrel x:17.14 y:-7.75 z:-0.07], yaw_start:329.40, yaw_current:209.40]

Answer: CIRCLE: dx:0.41; dy:-0.32; dz:0.00; yaw:44.40;


Context: [objects_distance_from_drone[bench x:1.81 y:0.22 z:0.07], yaw_start:329.40, yaw_current:224.40]

Answer: CIRCLE: dx:0.48; dy:-0.20; dz:0.00; yaw:59.40;


Context: [objects_distance_from_drone[bench x:1.79 y:0.19 z:0.04], yaw_start:329.40, yaw_current:239.40]

Answer: CIRCLE: dx:0.52; dy:-0.07; dz:0.00; yaw:74.40;


Context: [objects_distance_from_drone[bench x:1.80 y:0.11 z:0.07], yaw_start:329.40, yaw_current:254.40]

Answer: CIRCLE: dx:0.52; dy:0.06; dz:0.00; yaw:89.40;


Context: [objects_distance_from_drone[bench x:1.83 y:0.17 z:0.07], yaw_start:329.40, yaw_current:269.40]

Answer: CIRCLE: dx:0.48; dy:0.19; dz:0.00; yaw:104.40;


Context: [objects_distance_from_drone[bench x:1.90 y:0.21 z:0.07], yaw_start:329.40, yaw_current:284.40]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:119.40;


Context: [objects_distance_from_drone[bench x:1.94 y:0.10 z:0.07], yaw_start:329.40, yaw_current:299.40]

Answer: CIRCLE: dx:0.32; dy:0.41; dz:0.00; yaw:134.40;


Context: [drone_absolute_movement x:-9.36 y:4.82 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.02 z:0.06]]

Answer: RETURN: dx:9.36; dy:-4.82;


Context: [objects_distance_from_drone[bench x:12.42 y:0.57 z:0.07]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:11.04 y:0.99 z:0.34, oil barrel x:7.96 y:-1.91 z:-0.07]]

Answer: MOVE: x:9.04; y:0.99; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.10], yaw_start:269.22, yaw_current:254.22]

Answer: CIRCLE: dx:0.52; dy:0.06; dz:0.00; yaw:89.22;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:269.22, yaw_current:269.22]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:104.22;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:269.22, yaw_current:284.22]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:119.22;


Context: [objects_distance_from_drone[pedestrian x:2.01 y:-0.00 z:0.10], yaw_start:269.22, yaw_current:299.22]

Answer: CIRCLE: dx:0.32; dy:0.41; dz:0.00; yaw:134.22;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:269.22, yaw_current:314.22]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:149.22;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:269.22, yaw_current:329.22]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:164.22;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10, dog x:12.53 y:4.27 z:-0.13], yaw_start:269.22, yaw_current:344.22]

Answer: CIRCLE: dx:-0.06; dy:0.52; dz:0.00; yaw:179.22;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, dog x:13.28 y:1.40 z:-0.14], yaw_start:269.22, yaw_current:359.22]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-165.78;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10, BMW X5 x:15.98 y:8.95 z:0.35, dog x:13.26 y:-1.57 z:-0.14], yaw_start:269.22, yaw_current:14.22]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-150.78;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:18.04 y:4.15 z:0.35, dog x:12.48 y:-4.44 z:-0.14], yaw_start:269.22, yaw_current:29.22]

Answer: CIRCLE: dx:-0.41; dy:0.32; dz:0.00; yaw:-135.78;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09, BMW X5 x:18.58 y:-0.14 z:0.35], yaw_start:269.22, yaw_current:44.22]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-120.78;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:17.98 y:-4.43 z:0.34], yaw_start:269.22, yaw_current:59.22]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-105.78;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:15.57 y:-8.36 z:0.34, bench x:19.36 y:6.53 z:0.08, oil barrel x:5.33 y:2.34 z:-0.07], yaw_start:269.22, yaw_current:74.22]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-90.78;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, bench x:20.47 y:1.81 z:0.08, oil barrel x:5.87 y:1.55 z:-0.07], yaw_start:269.22, yaw_current:89.22]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-75.78;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, bench x:20.30 y:-3.04 z:0.07, oil barrel x:6.14 y:0.49 z:-0.07], yaw_start:269.22, yaw_current:104.22]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-60.78;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, bench x:18.89 y:-7.68 z:0.06, oil barrel x:6.12 y:-0.61 z:-0.07], yaw_start:269.22, yaw_current:119.22]

Answer: CIRCLE: dx:-0.32; dy:-0.41; dz:0.00; yaw:-45.78;


Context: [objects_distance_from_drone[pedestrian x:1.93 y:-0.00 z:0.09, oil barrel x:5.82 y:-1.67 z:-0.07], yaw_start:269.22, yaw_current:134.22]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-30.78;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, oil barrel x:5.27 y:-2.38 z:-0.07], yaw_start:269.22, yaw_current:149.22]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-15.78;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:269.22, yaw_current:164.22]

Answer: CIRCLE: dx:0.06; dy:-0.52; dz:0.00; yaw:-0.78;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:269.22, yaw_current:179.22]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:14.22;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:269.22, yaw_current:194.22]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:29.22;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:269.22, yaw_current:209.22]

Answer: CIRCLE: dx:0.41; dy:-0.32; dz:0.00; yaw:44.22;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:269.22, yaw_current:224.22]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:59.22;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:269.22, yaw_current:239.22]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:74.22;


Context: [drone_absolute_movement x:0.42 y:9.09 z:0.50, objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10]]

Answer: RETURN: dx:-0.42; dy:-9.09;


Context: [objects_distance_from_drone[pedestrian x:10.97 y:-0.63 z:0.42, oil barrel x:7.51 y:-3.06 z:-0.02]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:7.68 y:-4.75 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:7.60 y:-4.79 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:5.39 y:-2.60 z:0.35, oil barrel x:8.10 y:3.14 z:-0.07]]

Answer: MOVE: x:1.39; y:-2.60; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.02 z:0.20], yaw_start:38.07, yaw_current:23.07]

Answer: CIRCLE: dx:-0.75; dy:0.73; dz:0.00; yaw:-141.93;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.09 z:0.35], yaw_start:38.07, yaw_current:38.07]

Answer: CIRCLE: dx:-0.91; dy:0.51; dz:0.00; yaw:-126.93;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:-0.06 z:0.34], yaw_start:38.07, yaw_current:53.07]

Answer: CIRCLE: dx:-1.01; dy:0.26; dz:0.00; yaw:-111.93;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.39 z:0.34], yaw_start:38.07, yaw_current:68.07]

Answer: CIRCLE: dx:-1.04; dy:-0.01; dz:0.00; yaw:-96.93;


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:-0.48 z:0.35], yaw_start:38.07, yaw_current:83.07]

Answer: CIRCLE: dx:-1.01; dy:-0.28; dz:0.00; yaw:-81.93;


Context: [objects_distance_from_drone[BMW X5 x:4.07 y:-0.47 z:0.34], yaw_start:38.07, yaw_current:98.07]

Answer: CIRCLE: dx:-0.90; dy:-0.53; dz:0.00; yaw:-66.93;


Context: [objects_distance_from_drone[pedestrian x:12.31 y:5.13 z:0.35, BMW X5 x:4.03 y:-0.38 z:0.35], yaw_start:38.07, yaw_current:113.07]

Answer: CIRCLE: dx:-0.73; dy:-0.75; dz:0.00; yaw:-51.93;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:-0.17 z:0.34], yaw_start:38.07, yaw_current:128.07]

Answer: CIRCLE: dx:-0.51; dy:-0.91; dz:0.00; yaw:-36.93;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.00 z:0.34, oil barrel x:8.43 y:-3.53 z:-0.07], yaw_start:38.07, yaw_current:143.07]

Answer: CIRCLE: dx:-0.26; dy:-1.01; dz:0.00; yaw:-21.93;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.10 z:0.34], yaw_start:38.07, yaw_current:158.07]

Answer: CIRCLE: dx:0.01; dy:-1.04; dz:0.00; yaw:-6.93;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:0.02 z:0.34], yaw_start:38.07, yaw_current:173.07]

Answer: CIRCLE: dx:0.28; dy:-1.01; dz:0.00; yaw:8.07;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:-0.16 z:0.34], yaw_start:38.07, yaw_current:188.07]

Answer: CIRCLE: dx:0.53; dy:-0.90; dz:0.00; yaw:23.07;


Context: [objects_distance_from_drone[BMW X5 x:3.65 y:-0.25 z:0.34], yaw_start:38.07, yaw_current:203.07]

Answer: CIRCLE: dx:0.75; dy:-0.73; dz:0.00; yaw:38.07;


Context: [objects_distance_from_drone[BMW X5 x:3.63 y:0.02 z:0.36], yaw_start:38.07, yaw_current:218.07]

Answer: CIRCLE: dx:0.91; dy:-0.51; dz:0.00; yaw:53.07;


Context: [objects_distance_from_drone[BMW X5 x:3.64 y:0.03 z:0.42], yaw_start:38.07, yaw_current:233.07]

Answer: CIRCLE: dx:1.01; dy:-0.26; dz:0.00; yaw:68.07;


Context: [objects_distance_from_drone[BMW X5 x:3.71 y:-0.13 z:0.46], yaw_start:38.07, yaw_current:248.07]

Answer: CIRCLE: dx:1.04; dy:0.01; dz:0.00; yaw:83.07;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.23 z:0.49], yaw_start:38.07, yaw_current:263.07]

Answer: CIRCLE: dx:1.01; dy:0.28; dz:0.00; yaw:98.07;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:-0.11 z:0.50], yaw_start:38.07, yaw_current:278.07]

Answer: CIRCLE: dx:0.90; dy:0.53; dz:0.00; yaw:113.07;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.07 z:0.48], yaw_start:38.07, yaw_current:293.07]

Answer: CIRCLE: dx:0.73; dy:0.75; dz:0.00; yaw:128.07;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.32 z:0.46], yaw_start:38.07, yaw_current:308.07]

Answer: CIRCLE: dx:0.51; dy:0.91; dz:0.00; yaw:143.07;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.49 z:0.47], yaw_start:38.07, yaw_current:323.07]

Answer: CIRCLE: dx:0.26; dy:1.01; dz:0.00; yaw:158.07;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.54 z:0.46], yaw_start:38.07, yaw_current:338.07]

Answer: CIRCLE: dx:-0.01; dy:1.04; dz:0.00; yaw:173.07;


Context: [objects_distance_from_drone[BMW X5 x:3.99 y:0.50 z:0.42], yaw_start:38.07, yaw_current:353.07]

Answer: CIRCLE: dx:-0.28; dy:1.01; dz:0.00; yaw:-171.93;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:0.23 z:0.38], yaw_start:38.07, yaw_current:8.07]

Answer: CIRCLE: dx:-0.53; dy:0.90; dz:0.00; yaw:-156.93;


Context: [drone_absolute_movement x:-1.55 y:-1.12 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.02 z:0.35]]

Answer: RETURN: dx:1.55; dy:1.12;


Context: [objects_distance_from_drone[BMW X5 x:5.96 y:-0.07 z:0.32]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:10.66 y:-6.65 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:10.65 y:-6.68 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:7.16 y:0.66 z:-0.14, oil barrel x:11.11 y:-0.13 z:-0.07]]

Answer: MOVE: x:5.16; y:0.66; z:-0.14


Context: [objects_distance_from_drone[dog x:2.06 y:0.00 z:-0.49, oil barrel x:5.89 y:-1.15 z:-1.10], yaw_start:249.31, yaw_current:234.31]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.31;


Context: [objects_distance_from_drone[dog x:2.07 y:-0.03 z:-0.14, oil barrel x:5.48 y:-2.13 z:-0.07], yaw_start:249.31, yaw_current:249.31]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.31;


Context: [objects_distance_from_drone[dog x:2.06 y:-0.04 z:-0.14], yaw_start:249.31, yaw_current:264.31]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.31;


Context: [objects_distance_from_drone[dog x:2.04 y:-0.06 z:-0.14], yaw_start:249.31, yaw_current:279.31]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:114.31;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.07 z:-0.14], yaw_start:249.31, yaw_current:294.31]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:129.31;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.07 z:-0.14], yaw_start:249.31, yaw_current:309.31]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:144.31;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.09 z:-0.14], yaw_start:249.31, yaw_current:324.31]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.31;


Context: [objects_distance_from_drone[pedestrian x:8.04 y:2.98 z:0.35, dog x:1.95 y:-0.11 z:-0.14], yaw_start:249.31, yaw_current:339.31]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.31;


Context: [objects_distance_from_drone[pedestrian x:8.69 y:1.60 z:0.34, BMW X5 x:14.04 y:8.39 z:0.36, dog x:1.93 y:-0.10 z:-0.14], yaw_start:249.31, yaw_current:354.31]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.69;


Context: [objects_distance_from_drone[pedestrian x:8.88 y:-0.19 z:0.34, BMW X5 x:15.67 y:3.87 z:0.35, dog x:1.92 y:-0.08 z:-0.14], yaw_start:249.31, yaw_current:9.31]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-155.69;


Context: [objects_distance_from_drone[pedestrian x:8.59 y:-1.97 z:0.34, BMW X5 x:16.20 y:0.19 z:0.35, dog x:1.91 y:-0.06 z:-0.14], yaw_start:249.31, yaw_current:24.31]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-140.69;


Context: [objects_distance_from_drone[pedestrian x:7.86 y:-3.13 z:0.34, dog x:1.91 y:-0.04 z:-0.14], yaw_start:249.31, yaw_current:39.31]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-125.69;


Context: [objects_distance_from_drone[BMW X5 x:14.24 y:-6.34 z:0.34, dog x:1.89 y:-0.01 z:-0.14], yaw_start:249.31, yaw_current:54.31]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.69;


Context: [objects_distance_from_drone[dog x:1.87 y:0.01 z:-0.14], yaw_start:249.31, yaw_current:69.31]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.69;


Context: [objects_distance_from_drone[dog x:1.88 y:0.03 z:-0.14, bench x:15.71 y:6.54 z:0.08], yaw_start:249.31, yaw_current:84.31]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.69;


Context: [objects_distance_from_drone[dog x:1.90 y:0.04 z:-0.14], yaw_start:249.31, yaw_current:99.31]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-65.69;


Context: [objects_distance_from_drone[dog x:1.92 y:0.05 z:-0.14], yaw_start:249.31, yaw_current:114.31]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-50.69;


Context: [objects_distance_from_drone[dog x:1.94 y:0.05 z:-0.14, bench x:16.24 y:-5.17 z:0.07], yaw_start:249.31, yaw_current:129.31]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-35.69;


Context: [objects_distance_from_drone[dog x:1.97 y:0.07 z:-0.14], yaw_start:249.31, yaw_current:144.31]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.69;


Context: [objects_distance_from_drone[dog x:1.98 y:0.09 z:-0.14], yaw_start:249.31, yaw_current:159.31]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.69;


Context: [objects_distance_from_drone[dog x:2.01 y:0.08 z:-0.14], yaw_start:249.31, yaw_current:174.31]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.31;


Context: [objects_distance_from_drone[dog x:2.02 y:0.06 z:-0.14, oil barrel x:5.57 y:1.97 z:-0.07], yaw_start:249.31, yaw_current:189.31]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:24.31;


Context: [objects_distance_from_drone[dog x:2.03 y:0.04 z:-0.14], yaw_start:249.31, yaw_current:204.31]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:39.31;


Context: [objects_distance_from_drone[dog x:2.03 y:0.02 z:-0.14], yaw_start:249.31, yaw_current:219.31]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:54.31;


Context: [drone_absolute_movement x:1.78 y:4.78 z:0.50, objects_distance_from_drone[dog x:2.05 y:-0.01 z:-0.14, oil barrel x:5.91 y:-1.15 z:-0.08]]

Answer: RETURN: dx:-1.78; dy:-4.78;


Context: [objects_distance_from_drone[dog x:7.06 y:-0.12 z:-0.12, oil barrel x:10.90 y:-1.33 z:-0.03]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:4.85 y:-1.12 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:4.90 y:-1.01 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:7.56 y:3.01 z:0.34, bench x:14.36 y:1.38 z:0.08]]

Answer: MOVE: x:12.36; y:1.38; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.00 z:0.07], yaw_start:305.79, yaw_current:290.79]

Answer: CIRCLE: dx:0.38; dy:0.36; dz:0.00; yaw:125.79;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.12 z:0.07], yaw_start:305.79, yaw_current:305.79]

Answer: CIRCLE: dx:0.27; dy:0.44; dz:0.00; yaw:140.79;


Context: [objects_distance_from_drone[bench x:1.94 y:-0.08 z:0.08], yaw_start:305.79, yaw_current:320.79]

Answer: CIRCLE: dx:0.15; dy:0.50; dz:0.00; yaw:155.79;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.17 z:0.13], yaw_start:305.79, yaw_current:335.79]

Answer: CIRCLE: dx:0.02; dy:0.52; dz:0.00; yaw:170.79;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.27 z:0.15], yaw_start:305.79, yaw_current:350.79]

Answer: CIRCLE: dx:-0.12; dy:0.51; dz:0.00; yaw:-174.21;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.28 z:0.14], yaw_start:305.79, yaw_current:5.79]

Answer: CIRCLE: dx:-0.25; dy:0.46; dz:0.00; yaw:-159.21;


Context: [objects_distance_from_drone[bench x:1.89 y:-0.24 z:0.13], yaw_start:305.79, yaw_current:20.79]

Answer: CIRCLE: dx:-0.36; dy:0.38; dz:0.00; yaw:-144.21;


Context: [objects_distance_from_drone[bench x:1.87 y:-0.17 z:0.13], yaw_start:305.79, yaw_current:35.79]

Answer: CIRCLE: dx:-0.44; dy:0.27; dz:0.00; yaw:-129.21;


Context: [objects_distance_from_drone[pedestrian x:7.63 y:3.39 z:0.35, bench x:1.88 y:-0.05 z:0.12], yaw_start:305.79, yaw_current:50.79]

Answer: CIRCLE: dx:-0.50; dy:0.15; dz:0.00; yaw:-114.21;


Context: [objects_distance_from_drone[bench x:1.87 y:0.05 z:0.10], yaw_start:305.79, yaw_current:65.79]

Answer: CIRCLE: dx:-0.52; dy:0.02; dz:0.00; yaw:-99.21;


Context: [objects_distance_from_drone[bench x:1.87 y:0.12 z:0.09], yaw_start:305.79, yaw_current:80.79]

Answer: CIRCLE: dx:-0.51; dy:-0.12; dz:0.00; yaw:-84.21;


Context: [objects_distance_from_drone[bench x:1.83 y:0.13 z:0.06], yaw_start:305.79, yaw_current:95.79]

Answer: CIRCLE: dx:-0.46; dy:-0.25; dz:0.00; yaw:-69.21;


Context: [objects_distance_from_drone[bench x:1.81 y:0.05 z:0.05], yaw_start:305.79, yaw_current:110.79]

Answer: CIRCLE: dx:-0.38; dy:-0.36; dz:0.00; yaw:-54.21;


Context: [objects_distance_from_drone[pedestrian x:7.48 y:-3.47 z:0.34, bench x:1.81 y:0.02 z:0.07], yaw_start:305.79, yaw_current:125.79]

Answer: CIRCLE: dx:-0.27; dy:-0.44; dz:0.00; yaw:-39.21;


Context: [objects_distance_from_drone[bench x:1.84 y:0.11 z:0.07], yaw_start:305.79, yaw_current:140.79]

Answer: CIRCLE: dx:-0.15; dy:-0.50; dz:0.00; yaw:-24.21;


Context: [objects_distance_from_drone[bench x:1.87 y:0.08 z:0.07], yaw_start:305.79, yaw_current:155.79]

Answer: CIRCLE: dx:-0.02; dy:-0.52; dz:0.00; yaw:-9.21;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.02 z:0.06], yaw_start:305.79, yaw_current:170.79]

Answer: CIRCLE: dx:0.12; dy:-0.51; dz:0.00; yaw:5.79;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.05 z:0.08], yaw_start:305.79, yaw_current:185.79]

Answer: CIRCLE: dx:0.25; dy:-0.46; dz:0.00; yaw:20.79;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.01 z:0.09], yaw_start:305.79, yaw_current:200.79]

Answer: CIRCLE: dx:0.36; dy:-0.38; dz:0.00; yaw:35.79;


Context: [objects_distance_from_drone[bench x:1.98 y:0.05 z:0.12], yaw_start:305.79, yaw_current:215.79]

Answer: CIRCLE: dx:0.44; dy:-0.27; dz:0.00; yaw:50.79;


Context: [objects_distance_from_drone[bench x:1.98 y:0.09 z:0.13], yaw_start:305.79, yaw_current:230.79]

Answer: CIRCLE: dx:0.50; dy:-0.15; dz:0.00; yaw:65.79;


Context: [objects_distance_from_drone[bench x:1.99 y:0.14 z:0.13], yaw_start:305.79, yaw_current:245.79]

Answer: CIRCLE: dx:0.52; dy:-0.02; dz:0.00; yaw:80.79;


Context: [objects_distance_from_drone[bench x:2.00 y:0.15 z:0.13], yaw_start:305.79, yaw_current:260.79]

Answer: CIRCLE: dx:0.51; dy:0.12; dz:0.00; yaw:95.79;


Context: [objects_distance_from_drone[bench x:1.98 y:0.13 z:0.13], yaw_start:305.79, yaw_current:275.79]

Answer: CIRCLE: dx:0.46; dy:0.25; dz:0.00; yaw:110.79;


Context: [drone_absolute_movement x:-7.19 y:10.07 z:0.50, objects_distance_from_drone[bench x:1.97 y:-0.02 z:0.12]]

Answer: RETURN: dx:7.19; dy:-10.07;


Context: [objects_distance_from_drone[pedestrian x:7.84 y:2.54 z:0.46, bench x:14.31 y:-0.42 z:0.27]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:15.30 y:-1.40 z:0.35]]

Answer: MOVE: x:13.30; y:-1.40; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.11], yaw_start:135.83, yaw_current:120.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:135.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:150.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:165.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:180.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:195.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:135.83, yaw_current:210.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, dog x:21.96 y:9.93 z:-0.24], yaw_start:135.83, yaw_current:225.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, dog x:23.93 y:4.68 z:-0.13], yaw_start:135.83, yaw_current:240.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:24.41 y:-1.16 z:-0.14], yaw_start:135.83, yaw_current:255.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:21.53 y:9.08 z:0.35, dog x:23.34 y:-6.92 z:-0.14], yaw_start:135.83, yaw_current:270.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:23.11 y:3.23 z:0.35], yaw_start:135.83, yaw_current:285.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:23.23 y:-2.35 z:0.34, bench x:13.32 y:8.40 z:0.08], yaw_start:135.83, yaw_current:300.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, BMW X5 x:21.89 y:-7.84 z:0.34, bench x:15.25 y:4.13 z:0.08], yaw_start:135.83, yaw_current:315.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:15.87 y:0.56 z:0.07, oil barrel x:8.40 y:3.75 z:-0.06], yaw_start:135.83, 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:1.96 y:0.00 z:0.09, bench x:15.54 y:-3.06 z:0.07, oil barrel x:9.19 y:2.11 z:-0.07], yaw_start:135.83, 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:1.96 y:0.00 z:0.09, bench x:14.07 y:-6.87 z:0.07, oil barrel x:9.49 y:0.16 z:-0.07], yaw_start:135.83, yaw_current:0.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:9.27 y:-1.79 z:-0.07], yaw_start:135.83, 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:1.97 y:0.00 z:0.10, oil barrel x:8.57 y:-3.62 z:-0.07], yaw_start:135.83, yaw_current:30.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10], yaw_start:135.83, yaw_current:45.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:135.83, yaw_current:60.83]

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


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:135.83, yaw_current:75.83]

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


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:90.83]

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


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:135.83, yaw_current:105.83]

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


Context: [drone_absolute_movement x:10.09 y:-8.78 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-10.09; dy:8.78;


Context: [objects_distance_from_drone[pedestrian x:15.24 y:0.25 z:1.07]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:4.94 y:1.44 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:4.92 y:1.43 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:15.72 y:2.16 z:0.35]]

Answer: MOVE: x:11.72; y:2.16; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:0.24 z:-0.72], yaw_start:313.84, yaw_current:298.84]

Answer: CIRCLE: dx:0.65; dy:0.82; dz:0.00; yaw:133.84;


Context: [objects_distance_from_drone[BMW X5 x:4.04 y:-0.28 z:0.45], yaw_start:313.84, yaw_current:313.84]

Answer: CIRCLE: dx:0.42; dy:0.96; dz:0.00; yaw:148.84;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:-0.11 z:0.45], yaw_start:313.84, yaw_current:328.84]

Answer: CIRCLE: dx:0.16; dy:1.03; dz:0.00; yaw:163.84;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:0.06 z:0.47], yaw_start:313.84, yaw_current:343.84]

Answer: CIRCLE: dx:-0.12; dy:1.04; dz:0.00; yaw:178.84;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:0.15 z:0.48], yaw_start:313.84, yaw_current:358.84]

Answer: CIRCLE: dx:-0.38; dy:0.97; dz:0.00; yaw:-166.16;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:0.10 z:0.45], yaw_start:313.84, yaw_current:13.84]

Answer: CIRCLE: dx:-0.62; dy:0.84; dz:0.00; yaw:-151.16;


Context: [objects_distance_from_drone[BMW X5 x:3.79 y:-0.11 z:0.41], yaw_start:313.84, yaw_current:28.84]

Answer: CIRCLE: dx:-0.82; dy:0.65; dz:0.00; yaw:-136.16;


Context: [objects_distance_from_drone[BMW X5 x:3.73 y:-0.28 z:0.36], yaw_start:313.84, yaw_current:43.84]

Answer: CIRCLE: dx:-0.96; dy:0.42; dz:0.00; yaw:-121.16;


Context: [objects_distance_from_drone[BMW X5 x:3.70 y:-0.05 z:0.34], yaw_start:313.84, yaw_current:58.84]

Answer: CIRCLE: dx:-1.03; dy:0.16; dz:0.00; yaw:-106.16;


Context: [objects_distance_from_drone[BMW X5 x:3.70 y:-0.02 z:0.35], yaw_start:313.84, yaw_current:73.84]

Answer: CIRCLE: dx:-1.04; dy:-0.12; dz:0.00; yaw:-91.16;


Context: [objects_distance_from_drone[BMW X5 x:3.75 y:-0.21 z:0.34], yaw_start:313.84, yaw_current:88.84]

Answer: CIRCLE: dx:-0.97; dy:-0.38; dz:0.00; yaw:-76.16;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.32 z:0.35, oil barrel x:15.44 y:7.02 z:-0.06], yaw_start:313.84, yaw_current:103.84]

Answer: CIRCLE: dx:-0.84; dy:-0.62; dz:0.00; yaw:-61.16;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:-0.22 z:0.35], yaw_start:313.84, yaw_current:118.84]

Answer: CIRCLE: dx:-0.65; dy:-0.82; dz:0.00; yaw:-46.16;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.06 z:0.35], yaw_start:313.84, yaw_current:133.84]

Answer: CIRCLE: dx:-0.42; dy:-0.96; dz:0.00; yaw:-31.16;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.22 z:0.35], yaw_start:313.84, yaw_current:148.84]

Answer: CIRCLE: dx:-0.16; dy:-1.03; dz:0.00; yaw:-16.16;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.40 z:0.35, oil barrel x:15.93 y:-6.36 z:-0.08], yaw_start:313.84, yaw_current:163.84]

Answer: CIRCLE: dx:0.12; dy:-1.04; dz:0.00; yaw:-1.16;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.48 z:0.35, bench x:21.93 y:-7.64 z:0.06], yaw_start:313.84, yaw_current:178.84]

Answer: CIRCLE: dx:0.38; dy:-0.97; dz:0.00; yaw:13.84;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.47 z:0.35], yaw_start:313.84, yaw_current:193.84]

Answer: CIRCLE: dx:0.62; dy:-0.84; dz:0.00; yaw:28.84;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.23 z:0.35], yaw_start:313.84, yaw_current:208.84]

Answer: CIRCLE: dx:0.82; dy:-0.65; dz:0.00; yaw:43.84;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.02 z:0.34], yaw_start:313.84, yaw_current:223.84]

Answer: CIRCLE: dx:0.96; dy:-0.42; dz:0.00; yaw:58.84;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.12 z:0.34], yaw_start:313.84, yaw_current:238.84]

Answer: CIRCLE: dx:1.03; dy:-0.16; dz:0.00; yaw:73.84;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:0.03 z:0.35], yaw_start:313.84, yaw_current:253.84]

Answer: CIRCLE: dx:1.04; dy:0.12; dz:0.00; yaw:88.84;


Context: [objects_distance_from_drone[BMW X5 x:4.00 y:-0.26 z:0.40], yaw_start:313.84, yaw_current:268.84]

Answer: CIRCLE: dx:0.97; dy:0.38; dz:0.00; yaw:103.84;


Context: [objects_distance_from_drone[BMW X5 x:4.06 y:-0.40 z:0.44], yaw_start:313.84, yaw_current:283.84]

Answer: CIRCLE: dx:0.84; dy:0.62; dz:0.00; yaw:118.84;


Context: [drone_absolute_movement x:-7.33 y:9.25 z:0.50, objects_distance_from_drone[BMW X5 x:4.05 y:-0.39 z:0.46]]

Answer: RETURN: dx:7.33; dy:-9.25;


Context: [objects_distance_from_drone[BMW X5 x:15.64 y:-1.70 z:0.95, dog x:10.72 y:2.70 z:0.24]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:14.03 y:1.25 z:-0.14]]

Answer: MOVE: x:12.03; y:1.25; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.17], yaw_start:319.26, yaw_current:304.26]

Answer: CIRCLE: dx:0.29; dy:0.44; dz:0.00; yaw:139.26;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:319.26]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:154.26;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:334.26]

Answer: CIRCLE: dx:0.03; dy:0.52; dz:0.00; yaw:169.26;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.00 z:-0.14], yaw_start:319.26, yaw_current:349.26]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-175.74;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.02 z:-0.14], yaw_start:319.26, yaw_current:4.26]

Answer: CIRCLE: dx:-0.24; dy:0.47; dz:0.00; yaw:-160.74;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:319.26, yaw_current:19.26]

Answer: CIRCLE: dx:-0.35; dy:0.39; dz:0.00; yaw:-145.74;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.04 z:-0.14], yaw_start:319.26, yaw_current:34.26]

Answer: CIRCLE: dx:-0.44; dy:0.29; dz:0.00; yaw:-130.74;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.03 z:-0.14], yaw_start:319.26, yaw_current:49.26]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-115.74;


Context: [objects_distance_from_drone[BMW X5 x:17.11 y:9.10 z:0.02, dog x:1.97 y:-0.03 z:-0.14, oil barrel x:13.90 y:6.14 z:-0.06], yaw_start:319.26, yaw_current:64.26]

Answer: CIRCLE: dx:-0.52; dy:0.03; dz:0.00; yaw:-100.74;


Context: [objects_distance_from_drone[BMW X5 x:19.18 y:5.54 z:0.35, dog x:1.97 y:-0.02 z:-0.14, oil barrel x:15.08 y:2.85 z:-0.07], yaw_start:319.26, yaw_current:79.26]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-85.74;


Context: [objects_distance_from_drone[BMW X5 x:20.04 y:0.89 z:0.35, dog x:1.96 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:94.26]

Answer: CIRCLE: dx:-0.47; dy:-0.24; dz:0.00; yaw:-70.74;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, oil barrel x:14.76 y:-4.09 z:-0.08], yaw_start:319.26, yaw_current:109.26]

Answer: CIRCLE: dx:-0.39; dy:-0.35; dz:0.00; yaw:-55.74;


Context: [objects_distance_from_drone[BMW X5 x:17.73 y:-9.31 z:0.34, dog x:1.94 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:124.26]

Answer: CIRCLE: dx:-0.29; dy:-0.44; dz:0.00; yaw:-40.74;


Context: [objects_distance_from_drone[pedestrian x:20.63 y:8.61 z:0.35, dog x:1.95 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:139.26]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-25.74;


Context: [objects_distance_from_drone[pedestrian x:22.26 y:3.60 z:0.35, dog x:1.95 y:-0.01 z:-0.14, bench x:14.04 y:4.64 z:0.08], yaw_start:319.26, yaw_current:154.26]

Answer: CIRCLE: dx:-0.03; dy:-0.52; dz:0.00; yaw:-10.74;


Context: [objects_distance_from_drone[dog x:1.96 y:-0.01 z:-0.14, bench x:14.83 y:1.36 z:0.08], yaw_start:319.26, yaw_current:169.26]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:4.26;


Context: [objects_distance_from_drone[pedestrian x:21.35 y:-7.03 z:0.33, dog x:1.97 y:-0.00 z:-0.14, bench x:14.75 y:-2.02 z:0.07], yaw_start:319.26, yaw_current:184.26]

Answer: CIRCLE: dx:0.24; dy:-0.47; dz:0.00; yaw:19.26;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14, bench x:13.79 y:-5.29 z:0.06], yaw_start:319.26, yaw_current:199.26]

Answer: CIRCLE: dx:0.35; dy:-0.39; dz:0.00; yaw:34.26;


Context: [objects_distance_from_drone[dog x:1.96 y:0.02 z:-0.14], yaw_start:319.26, yaw_current:214.26]

Answer: CIRCLE: dx:0.44; dy:-0.29; dz:0.00; yaw:49.26;


Context: [objects_distance_from_drone[dog x:1.97 y:0.01 z:-0.14], yaw_start:319.26, yaw_current:229.26]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:64.26;


Context: [objects_distance_from_drone[dog x:1.96 y:0.01 z:-0.14], yaw_start:319.26, yaw_current:244.26]

Answer: CIRCLE: dx:0.52; dy:-0.03; dz:0.00; yaw:79.26;


Context: [objects_distance_from_drone[dog x:1.96 y:0.00 z:-0.14], yaw_start:319.26, yaw_current:259.26]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:94.26;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:274.26]

Answer: CIRCLE: dx:0.47; dy:0.24; dz:0.00; yaw:109.26;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:319.26, yaw_current:289.26]

Answer: CIRCLE: dx:0.39; dy:0.35; dz:0.00; yaw:124.26;


Context: [drone_absolute_movement x:-9.16 y:7.82 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:9.16; dy:-7.82;


Context: [objects_distance_from_drone[dog x:13.92 y:-0.64 z:0.34]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:1.70 z:0.88, bench x:10.11 y:0.35 z:0.57, oil barrel x:11.93 y:-3.50 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:1.70 z:0.43, bench x:10.11 y:0.35 z:0.11, oil barrel x:11.93 y:-3.50 z:-0.03]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:1.69 z:0.43, bench x:10.11 y:0.34 z:0.11, oil barrel x:11.93 y:-3.51 z:-0.04]]

Answer: MOVE: x:8.11; y:0.34; z:0.11


Context: [objects_distance_from_drone[bench x:2.29 y:-0.28 z:-0.84], yaw_start:183.84, yaw_current:168.84]

Answer: CIRCLE: dx:0.10; dy:-0.51; dz:0.00; yaw:3.84;


Context: [objects_distance_from_drone[bench x:2.35 y:-0.19 z:0.12], yaw_start:183.84, yaw_current:183.84]

Answer: CIRCLE: dx:0.23; dy:-0.47; dz:0.00; yaw:18.84;


Context: [objects_distance_from_drone[bench x:2.29 y:-0.32 z:0.10], yaw_start:183.84, yaw_current:198.84]

Answer: CIRCLE: dx:0.34; dy:-0.39; dz:0.00; yaw:33.84;


Context: [objects_distance_from_drone[bench x:2.22 y:-0.53 z:0.08], yaw_start:183.84, yaw_current:213.84]

Answer: CIRCLE: dx:0.43; dy:-0.29; dz:0.00; yaw:48.84;


Context: [objects_distance_from_drone[dog x:8.26 y:3.48 z:-0.14, bench x:2.09 y:-0.69 z:0.07], yaw_start:183.84, yaw_current:228.84]

Answer: CIRCLE: dx:0.49; dy:-0.17; dz:0.00; yaw:63.84;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.76 z:0.09], yaw_start:183.84, yaw_current:243.84]

Answer: CIRCLE: dx:0.52; dy:-0.03; dz:0.00; yaw:78.84;


Context: [objects_distance_from_drone[BMW X5 x:6.57 y:2.98 z:0.54, bench x:1.69 y:-0.73 z:0.17], yaw_start:183.84, yaw_current:258.84]

Answer: CIRCLE: dx:0.51; dy:0.10; dz:0.00; yaw:93.84;


Context: [objects_distance_from_drone[BMW X5 x:8.52 y:5.19 z:0.35, bench x:1.57 y:-0.75 z:0.18], yaw_start:183.84, yaw_current:273.84]

Answer: CIRCLE: dx:0.47; dy:0.23; dz:0.00; yaw:108.84;


Context: [objects_distance_from_drone[bench x:1.49 y:-0.69 z:0.17], yaw_start:183.84, yaw_current:288.84]

Answer: CIRCLE: dx:0.39; dy:0.34; dz:0.00; yaw:123.84;


Context: [objects_distance_from_drone[bench x:1.47 y:-0.57 z:0.15], yaw_start:183.84, yaw_current:303.84]

Answer: CIRCLE: dx:0.29; dy:0.43; dz:0.00; yaw:138.84;


Context: [objects_distance_from_drone[pedestrian x:15.84 y:6.72 z:0.35, bench x:1.47 y:-0.39 z:0.13], yaw_start:183.84, yaw_current:318.84]

Answer: CIRCLE: dx:0.17; dy:0.49; dz:0.00; yaw:153.84;


Context: [objects_distance_from_drone[bench x:1.43 y:-0.04 z:0.13], yaw_start:183.84, yaw_current:333.84]

Answer: CIRCLE: dx:0.03; dy:0.52; dz:0.00; yaw:168.84;


Context: [objects_distance_from_drone[BMW X5 x:7.65 y:-3.66 z:0.00, bench x:1.47 y:0.27 z:0.13], yaw_start:183.84, yaw_current:348.84]

Answer: CIRCLE: dx:-0.10; dy:0.51; dz:0.00; yaw:-176.16;


Context: [objects_distance_from_drone[pedestrian x:16.82 y:-4.78 z:0.33, BMW X5 x:6.83 y:-3.08 z:0.39, bench x:1.46 y:0.46 z:0.10], yaw_start:183.84, yaw_current:3.84]

Answer: CIRCLE: dx:-0.23; dy:0.47; dz:0.00; yaw:-161.16;


Context: [objects_distance_from_drone[bench x:1.47 y:0.60 z:0.07], yaw_start:183.84, yaw_current:18.84]

Answer: CIRCLE: dx:-0.34; dy:0.39; dz:0.00; yaw:-146.16;


Context: [objects_distance_from_drone[bench x:1.53 y:0.68 z:0.04], yaw_start:183.84, yaw_current:33.84]

Answer: CIRCLE: dx:-0.43; dy:0.29; dz:0.00; yaw:-131.16;


Context: [objects_distance_from_drone[bench x:1.64 y:0.68 z:0.03], yaw_start:183.84, yaw_current:48.84]

Answer: CIRCLE: dx:-0.49; dy:0.17; dz:0.00; yaw:-116.16;


Context: [objects_distance_from_drone[bench x:1.78 y:0.76 z:0.07], yaw_start:183.84, yaw_current:63.84]

Answer: CIRCLE: dx:-0.52; dy:0.03; dz:0.00; yaw:-101.16;


Context: [objects_distance_from_drone[bench x:2.03 y:0.69 z:0.07], yaw_start:183.84, yaw_current:78.84]

Answer: CIRCLE: dx:-0.51; dy:-0.10; dz:0.00; yaw:-86.16;


Context: [objects_distance_from_drone[bench x:2.15 y:0.55 z:0.07], yaw_start:183.84, yaw_current:93.84]

Answer: CIRCLE: dx:-0.47; dy:-0.23; dz:0.00; yaw:-71.16;


Context: [objects_distance_from_drone[bench x:2.25 y:0.34 z:0.07], yaw_start:183.84, yaw_current:108.84]

Answer: CIRCLE: dx:-0.39; dy:-0.34; dz:0.00; yaw:-56.16;


Context: [objects_distance_from_drone[bench x:2.33 y:0.24 z:0.07], yaw_start:183.84, yaw_current:123.84]

Answer: CIRCLE: dx:-0.29; dy:-0.43; dz:0.00; yaw:-41.16;


Context: [objects_distance_from_drone[bench x:2.38 y:0.14 z:0.09, oil barrel x:5.72 y:-2.43 z:-0.07], yaw_start:183.84, yaw_current:138.84]

Answer: CIRCLE: dx:-0.17; dy:-0.49; dz:0.00; yaw:-26.16;


Context: [objects_distance_from_drone[bench x:2.40 y:0.03 z:0.10], yaw_start:183.84, yaw_current:153.84]

Answer: CIRCLE: dx:-0.03; dy:-0.52; dz:0.00; yaw:-11.16;


Context: [drone_absolute_movement x:7.71 y:0.28 z:0.50, objects_distance_from_drone[bench x:2.38 y:-0.09 z:0.11]]

Answer: RETURN: dx:-7.71; dy:-0.28;


Context: [objects_distance_from_drone[BMW X5 x:3.38 y:3.91 z:0.11, bench x:10.01 y:-0.47 z:0.04, oil barrel x:11.52 y:-4.46 z:-0.08]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:9.11 y:2.08 z:0.84, oil barrel x:12.31 y:-2.52 z:0.43]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:9.07 y:2.13 z:0.36, oil barrel x:12.30 y:-2.45 z:-0.05]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:9.28 y:0.88 z:0.36, oil barrel x:11.86 y:-4.09 z:-0.06]]

Answer: MOVE: x:7.28; y:0.88; z:0.36


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.11], yaw_start:193.87, yaw_current:178.87]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:13.87;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:193.87, yaw_current:193.87]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:28.87;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:193.87, yaw_current:208.87]

Answer: CIRCLE: dx:0.41; dy:-0.33; dz:0.00; yaw:43.87;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:193.87, yaw_current:223.87]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:58.87;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:193.87, yaw_current:238.87]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.87;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:193.87, yaw_current:253.87]

Answer: CIRCLE: dx:0.52; dy:0.06; dz:0.00; yaw:88.87;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:14.99 y:6.89 z:0.35], yaw_start:193.87, yaw_current:268.87]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:103.87;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:16.29 y:2.77 z:0.35], yaw_start:193.87, yaw_current:283.87]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:118.87;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:16.54 y:-1.03 z:0.35], yaw_start:193.87, yaw_current:298.87]

Answer: CIRCLE: dx:0.33; dy:0.41; dz:0.00; yaw:133.87;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:15.75 y:-4.76 z:0.34], yaw_start:193.87, yaw_current:313.87]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:148.87;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:14.03 y:-7.99 z:0.34], yaw_start:193.87, yaw_current:328.87]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.87;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09], yaw_start:193.87, yaw_current:343.87]

Answer: CIRCLE: dx:-0.06; dy:0.52; dz:0.00; yaw:178.87;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:10.79 y:4.54 z:-0.13], yaw_start:193.87, yaw_current:358.87]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-166.13;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, dog x:11.66 y:2.11 z:-0.13], yaw_start:193.87, yaw_current:13.87]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-151.13;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09, dog x:11.87 y:-0.48 z:-0.14], yaw_start:193.87, yaw_current:28.87]

Answer: CIRCLE: dx:-0.41; dy:0.33; dz:0.00; yaw:-136.13;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, dog x:11.41 y:-3.05 z:-0.14], yaw_start:193.87, yaw_current:43.87]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-121.13;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, bench x:9.98 y:3.04 z:0.08], yaw_start:193.87, yaw_current:58.87]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.13;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, bench x:10.49 y:0.87 z:0.07, oil barrel x:6.50 y:3.02 z:-0.06], yaw_start:193.87, yaw_current:73.87]

Answer: CIRCLE: dx:-0.52; dy:-0.06; dz:0.00; yaw:-91.13;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09, bench x:10.43 y:-1.37 z:0.07, oil barrel x:7.20 y:2.02 z:-0.07], yaw_start:193.87, yaw_current:88.87]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-76.13;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, bench x:9.79 y:-3.51 z:0.07, oil barrel x:7.55 y:0.60 z:-0.07], yaw_start:193.87, yaw_current:103.87]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-61.13;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, oil barrel x:7.51 y:-0.87 z:-0.07], yaw_start:193.87, yaw_current:118.87]

Answer: CIRCLE: dx:-0.33; dy:-0.41; dz:0.00; yaw:-46.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, oil barrel x:7.11 y:-2.28 z:-0.07], yaw_start:193.87, yaw_current:133.87]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-31.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:193.87, yaw_current:148.87]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.13;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:193.87, yaw_current:163.87]

Answer: CIRCLE: dx:0.06; dy:-0.52; dz:0.00; yaw:-1.13;


Context: [drone_absolute_movement x:7.17 y:1.60 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-7.17; dy:-1.60;


Context: [objects_distance_from_drone[pedestrian x:9.23 y:-0.43 z:0.41]]

Answer: LAND


Context: [objects_distance_from_drone[dog x:12.25 y:3.85 z:0.36]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[dog x:12.26 y:3.81 z:-0.12]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:5.10 y:-1.42 z:0.35]]

Answer: MOVE: x:1.10; y:-1.42; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.03 y:-0.53 z:-1.04], yaw_start:344.39, yaw_current:329.39]

Answer: CIRCLE: dx:0.15; dy:1.03; dz:0.00; yaw:164.39;


Context: [objects_distance_from_drone[BMW X5 x:4.17 y:0.62 z:0.36], yaw_start:344.39, yaw_current:344.39]

Answer: CIRCLE: dx:-0.13; dy:1.04; dz:0.00; yaw:179.39;


Context: [objects_distance_from_drone[BMW X5 x:4.31 y:0.53 z:0.34], yaw_start:344.39, yaw_current:359.39]

Answer: CIRCLE: dx:-0.39; dy:0.97; dz:0.00; yaw:-165.61;


Context: [objects_distance_from_drone[BMW X5 x:4.44 y:0.59 z:0.35], yaw_start:344.39, yaw_current:14.39]

Answer: CIRCLE: dx:-0.63; dy:0.84; dz:0.00; yaw:-150.61;


Context: [objects_distance_from_drone[BMW X5 x:4.56 y:0.53 z:0.35], yaw_start:344.39, yaw_current:29.39]

Answer: CIRCLE: dx:-0.82; dy:0.64; dz:0.00; yaw:-135.61;


Context: [objects_distance_from_drone[BMW X5 x:4.61 y:0.38 z:0.34], yaw_start:344.39, yaw_current:44.39]

Answer: CIRCLE: dx:-0.96; dy:0.41; dz:0.00; yaw:-120.61;


Context: [objects_distance_from_drone[BMW X5 x:4.62 y:0.15 z:0.35], yaw_start:344.39, yaw_current:59.39]

Answer: CIRCLE: dx:-1.03; dy:0.15; dz:0.00; yaw:-105.61;


Context: [objects_distance_from_drone[BMW X5 x:4.57 y:-0.32 z:0.34], yaw_start:344.39, yaw_current:74.39]

Answer: CIRCLE: dx:-1.04; dy:-0.13; dz:0.00; yaw:-90.61;


Context: [objects_distance_from_drone[BMW X5 x:4.49 y:-0.73 z:0.34], yaw_start:344.39, yaw_current:89.39]

Answer: CIRCLE: dx:-0.97; dy:-0.39; dz:0.00; yaw:-75.61;


Context: [objects_distance_from_drone[BMW X5 x:4.22 y:-0.86 z:0.34], yaw_start:344.39, yaw_current:104.39]

Answer: CIRCLE: dx:-0.84; dy:-0.63; dz:0.00; yaw:-60.61;


Context: [objects_distance_from_drone[BMW X5 x:4.03 y:-1.02 z:0.36], yaw_start:344.39, yaw_current:119.39]

Answer: CIRCLE: dx:-0.64; dy:-0.82; dz:0.00; yaw:-45.61;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-1.22 z:0.44], yaw_start:344.39, yaw_current:134.39]

Answer: CIRCLE: dx:-0.41; dy:-0.96; dz:0.00; yaw:-30.61;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:-1.29 z:0.50, dog x:19.88 y:7.42 z:-0.13], yaw_start:344.39, yaw_current:149.39]

Answer: CIRCLE: dx:-0.15; dy:-1.03; dz:0.00; yaw:-15.61;


Context: [objects_distance_from_drone[pedestrian x:14.81 y:6.07 z:0.35, BMW X5 x:3.68 y:-1.22 z:0.52], yaw_start:344.39, yaw_current:164.39]

Answer: CIRCLE: dx:0.13; dy:-1.04; dz:0.00; yaw:-0.61;


Context: [objects_distance_from_drone[pedestrian x:16.09 y:3.30 z:0.34, BMW X5 x:3.51 y:-1.01 z:0.54], yaw_start:344.39, yaw_current:179.39]

Answer: CIRCLE: dx:0.39; dy:-0.97; dz:0.00; yaw:14.39;


Context: [objects_distance_from_drone[BMW X5 x:3.30 y:-0.50 z:0.58], yaw_start:344.39, yaw_current:194.39]

Answer: CIRCLE: dx:0.63; dy:-0.84; dz:0.00; yaw:29.39;


Context: [objects_distance_from_drone[BMW X5 x:3.32 y:-0.07 z:0.59], yaw_start:344.39, yaw_current:209.39]

Answer: CIRCLE: dx:0.82; dy:-0.64; dz:0.00; yaw:44.39;


Context: [objects_distance_from_drone[BMW X5 x:3.26 y:0.25 z:0.60], yaw_start:344.39, yaw_current:224.39]

Answer: CIRCLE: dx:0.96; dy:-0.41; dz:0.00; yaw:59.39;


Context: [objects_distance_from_drone[BMW X5 x:3.12 y:0.37 z:0.59], yaw_start:344.39, yaw_current:239.39]

Answer: CIRCLE: dx:1.03; dy:-0.15; dz:0.00; yaw:74.39;


Context: [objects_distance_from_drone[BMW X5 x:3.08 y:0.44 z:0.56], yaw_start:344.39, yaw_current:254.39]

Answer: CIRCLE: dx:1.04; dy:0.13; dz:0.00; yaw:89.39;


Context: [objects_distance_from_drone[BMW X5 x:3.14 y:0.51 z:0.49], yaw_start:344.39, yaw_current:269.39]

Answer: CIRCLE: dx:0.97; dy:0.39; dz:0.00; yaw:104.39;


Context: [objects_distance_from_drone[BMW X5 x:3.43 y:0.94 z:0.39], yaw_start:344.39, yaw_current:284.39]

Answer: CIRCLE: dx:0.84; dy:0.63; dz:0.00; yaw:119.39;


Context: [objects_distance_from_drone[BMW X5 x:3.62 y:1.08 z:0.35], yaw_start:344.39, yaw_current:299.39]

Answer: CIRCLE: dx:0.64; dy:0.82; dz:0.00; yaw:134.39;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:0.94 z:0.35], yaw_start:344.39, yaw_current:314.39]

Answer: CIRCLE: dx:0.41; dy:0.96; dz:0.00; yaw:149.39;


Context: [drone_absolute_movement x:-1.17 y:-0.10 z:0.50, objects_distance_from_drone[BMW X5 x:4.01 y:0.73 z:0.35]]

Answer: RETURN: dx:1.17; dy:0.10;


Context: [objects_distance_from_drone[BMW X5 x:5.02 y:1.09 z:0.43]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:10.67 y:0.96 z:-0.14]]

Answer: MOVE: x:8.67; y:0.96; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:281.41, yaw_current:266.41]

Answer: CIRCLE: dx:0.49; dy:0.17; dz:0.00; yaw:101.41;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.03 z:-0.14], yaw_start:281.41, yaw_current:281.41]

Answer: CIRCLE: dx:0.43; dy:0.29; dz:0.00; yaw:116.41;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.03 z:-0.14, bench x:7.55 y:5.37 z:0.08], yaw_start:281.41, yaw_current:296.41]

Answer: CIRCLE: dx:0.34; dy:0.39; dz:0.00; yaw:131.41;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14, bench x:8.93 y:2.85 z:0.08], yaw_start:281.41, yaw_current:311.41]

Answer: CIRCLE: dx:0.23; dy:0.47; dz:0.00; yaw:146.41;


Context: [objects_distance_from_drone[BMW X5 x:7.13 y:4.27 z:0.01, dog x:1.99 y:-0.02 z:-0.14, bench x:9.43 y:0.95 z:0.07], yaw_start:281.41, yaw_current:326.41]

Answer: CIRCLE: dx:0.10; dy:0.51; dz:0.00; yaw:161.41;


Context: [objects_distance_from_drone[BMW X5 x:7.73 y:4.00 z:0.35, dog x:1.98 y:-0.03 z:-0.14], yaw_start:281.41, yaw_current:341.41]

Answer: CIRCLE: dx:-0.04; dy:0.52; dz:0.00; yaw:176.41;


Context: [objects_distance_from_drone[BMW X5 x:8.75 y:1.89 z:0.35, dog x:1.97 y:-0.04 z:-0.14, bench x:8.91 y:-2.94 z:0.07], yaw_start:281.41, yaw_current:356.41]

Answer: CIRCLE: dx:-0.17; dy:0.49; dz:0.00; yaw:-168.59;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.04 z:-0.14, bench x:7.57 y:-5.50 z:-0.24], yaw_start:281.41, yaw_current:11.41]

Answer: CIRCLE: dx:-0.29; dy:0.43; dz:0.00; yaw:-153.59;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.05 z:-0.14], yaw_start:281.41, yaw_current:26.41]

Answer: CIRCLE: dx:-0.39; dy:0.34; dz:0.00; yaw:-138.59;


Context: [objects_distance_from_drone[pedestrian x:21.96 y:5.92 z:0.35, BMW X5 x:7.74 y:-4.58 z:0.34, dog x:1.96 y:-0.04 z:-0.14], yaw_start:281.41, yaw_current:41.41]

Answer: CIRCLE: dx:-0.47; dy:0.23; dz:0.00; yaw:-123.59;


Context: [objects_distance_from_drone[pedestrian x:22.81 y:0.54 z:0.34, BMW X5 x:7.47 y:-5.74 z:0.34, dog x:1.97 y:-0.03 z:-0.14, oil barrel x:22.37 y:8.63 z:-0.06], yaw_start:281.41, yaw_current:56.41]

Answer: CIRCLE: dx:-0.51; dy:0.10; dz:0.00; yaw:-108.59;


Context: [objects_distance_from_drone[pedestrian x:22.25 y:-4.87 z:0.33, dog x:1.95 y:-0.02 z:-0.14], yaw_start:281.41, yaw_current:71.41]

Answer: CIRCLE: dx:-0.52; dy:-0.04; dz:0.00; yaw:-93.59;


Context: [objects_distance_from_drone[pedestrian x:20.29 y:-9.21 z:0.33, dog x:1.94 y:-0.01 z:-0.14, oil barrel x:23.95 y:-2.72 z:-0.07], yaw_start:281.41, yaw_current:86.41]

Answer: CIRCLE: dx:-0.49; dy:-0.17; dz:0.00; yaw:-78.59;


Context: [objects_distance_from_drone[dog x:1.93 y:0.01 z:-0.14, oil barrel x:22.50 y:-8.32 z:-0.08], yaw_start:281.41, yaw_current:101.41]

Answer: CIRCLE: dx:-0.43; dy:-0.29; dz:0.00; yaw:-63.59;


Context: [objects_distance_from_drone[dog x:1.93 y:0.01 z:-0.14], yaw_start:281.41, yaw_current:116.41]

Answer: CIRCLE: dx:-0.34; dy:-0.39; dz:0.00; yaw:-48.59;


Context: [objects_distance_from_drone[dog x:1.94 y:0.00 z:-0.14], yaw_start:281.41, yaw_current:131.41]

Answer: CIRCLE: dx:-0.23; dy:-0.47; dz:0.00; yaw:-33.59;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.00 z:-0.14], yaw_start:281.41, yaw_current:146.41]

Answer: CIRCLE: dx:-0.10; dy:-0.51; dz:0.00; yaw:-18.59;


Context: [objects_distance_from_drone[dog x:1.96 y:0.01 z:-0.14], yaw_start:281.41, yaw_current:161.41]

Answer: CIRCLE: dx:0.04; dy:-0.52; dz:0.00; yaw:-3.59;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:281.41, yaw_current:176.41]

Answer: CIRCLE: dx:0.17; dy:-0.49; dz:0.00; yaw:11.41;


Context: [objects_distance_from_drone[BMW X5 x:-4.24 y:-0.04 z:0.05, dog x:1.99 y:0.03 z:-0.14], yaw_start:281.41, yaw_current:191.41]

Answer: CIRCLE: dx:0.29; dy:-0.43; dz:0.00; yaw:26.41;


Context: [objects_distance_from_drone[dog x:1.99 y:0.03 z:-0.14], yaw_start:281.41, yaw_current:206.41]

Answer: CIRCLE: dx:0.39; dy:-0.34; dz:0.00; yaw:41.41;


Context: [objects_distance_from_drone[dog x:1.98 y:0.03 z:-0.14], yaw_start:281.41, yaw_current:221.41]

Answer: CIRCLE: dx:0.47; dy:-0.23; dz:0.00; yaw:56.41;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:281.41, yaw_current:236.41]

Answer: CIRCLE: dx:0.51; dy:-0.10; dz:0.00; yaw:71.41;


Context: [objects_distance_from_drone[dog x:1.99 y:0.00 z:-0.14], yaw_start:281.41, yaw_current:251.41]

Answer: CIRCLE: dx:0.52; dy:0.04; dz:0.00; yaw:86.41;


Context: [drone_absolute_movement x:-1.66 y:8.70 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:1.66; dy:-8.70;


Context: [objects_distance_from_drone[BMW X5 x:8.79 y:3.81 z:0.53, dog x:10.76 y:-0.19 z:-0.07, bench x:13.40 y:7.43 z:0.12]]

Answer: LAND


Context: [objects_distance_from_drone[oil barrel x:5.50 y:-0.58 z:0.43]]

Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[bench x:6.72 y:0.70 z:0.08]]

Answer: MOVE: x:4.72; y:0.70; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.01 z:0.09], yaw_start:227.56, yaw_current:212.56]

Answer: CIRCLE: dx:0.43; dy:-0.30; dz:0.00; yaw:47.56;


Context: [objects_distance_from_drone[bench x:1.97 y:0.02 z:0.13], yaw_start:227.56, yaw_current:227.56]

Answer: CIRCLE: dx:0.49; dy:-0.18; dz:0.00; yaw:62.56;


Context: [objects_distance_from_drone[bench x:1.97 y:0.08 z:0.13], yaw_start:227.56, yaw_current:242.56]

Answer: CIRCLE: dx:0.52; dy:-0.04; dz:0.00; yaw:77.56;


Context: [objects_distance_from_drone[bench x:1.97 y:0.11 z:0.13], yaw_start:227.56, yaw_current:257.56]

Answer: CIRCLE: dx:0.51; dy:0.09; dz:0.00; yaw:92.56;


Context: [objects_distance_from_drone[bench x:1.94 y:0.09 z:0.13], yaw_start:227.56, yaw_current:272.56]

Answer: CIRCLE: dx:0.47; dy:0.22; dz:0.00; yaw:107.56;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.04 z:0.13], yaw_start:227.56, yaw_current:287.56]

Answer: CIRCLE: dx:0.40; dy:0.34; dz:0.00; yaw:122.56;


Context: [objects_distance_from_drone[bench x:1.93 y:-0.14 z:0.09], yaw_start:227.56, yaw_current:302.56]

Answer: CIRCLE: dx:0.30; dy:0.43; dz:0.00; yaw:137.56;


Context: [objects_distance_from_drone[bench x:1.90 y:-0.08 z:0.09], yaw_start:227.56, yaw_current:317.56]

Answer: CIRCLE: dx:0.18; dy:0.49; dz:0.00; yaw:152.56;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.13 z:0.14], yaw_start:227.56, yaw_current:332.56]

Answer: CIRCLE: dx:0.04; dy:0.52; dz:0.00; yaw:167.56;


Context: [objects_distance_from_drone[bench x:1.86 y:-0.24 z:0.15], yaw_start:227.56, yaw_current:347.56]

Answer: CIRCLE: dx:-0.09; dy:0.51; dz:0.00; yaw:-177.44;


Context: [objects_distance_from_drone[bench x:1.88 y:-0.23 z:0.14], yaw_start:227.56, yaw_current:2.56]

Answer: CIRCLE: dx:-0.22; dy:0.47; dz:0.00; yaw:-162.44;


Context: [objects_distance_from_drone[BMW X5 x:13.31 y:8.95 z:0.50, bench x:1.88 y:-0.18 z:0.13], yaw_start:227.56, yaw_current:17.56]

Answer: CIRCLE: dx:-0.34; dy:0.40; dz:0.00; yaw:-147.44;


Context: [objects_distance_from_drone[BMW X5 x:14.55 y:5.08 z:0.35, bench x:1.87 y:-0.11 z:0.13, oil barrel x:8.87 y:4.08 z:-0.06], yaw_start:227.56, yaw_current:32.56]

Answer: CIRCLE: dx:-0.43; dy:0.30; dz:0.00; yaw:-132.44;


Context: [objects_distance_from_drone[bench x:1.89 y:0.01 z:0.12], yaw_start:227.56, yaw_current:47.56]

Answer: CIRCLE: dx:-0.49; dy:0.18; dz:0.00; yaw:-117.44;


Context: [objects_distance_from_drone[bench x:1.89 y:0.10 z:0.10], yaw_start:227.56, yaw_current:62.56]

Answer: CIRCLE: dx:-0.52; dy:0.04; dz:0.00; yaw:-102.44;


Context: [objects_distance_from_drone[BMW X5 x:14.29 y:-6.00 z:0.34, bench x:1.89 y:0.16 z:0.09], yaw_start:227.56, yaw_current:77.56]

Answer: CIRCLE: dx:-0.51; dy:-0.09; dz:0.00; yaw:-87.44;


Context: [objects_distance_from_drone[BMW X5 x:12.25 y:-5.64 z:0.39, bench x:1.86 y:0.19 z:0.06], yaw_start:227.56, yaw_current:92.56]

Answer: CIRCLE: dx:-0.47; dy:-0.22; dz:0.00; yaw:-72.44;


Context: [objects_distance_from_drone[bench x:1.86 y:0.09 z:0.06], yaw_start:227.56, yaw_current:107.56]

Answer: CIRCLE: dx:-0.40; dy:-0.34; dz:0.00; yaw:-57.44;


Context: [objects_distance_from_drone[bench x:1.86 y:0.02 z:0.07], yaw_start:227.56, yaw_current:122.56]

Answer: CIRCLE: dx:-0.30; dy:-0.43; dz:0.00; yaw:-42.44;


Context: [objects_distance_from_drone[bench x:1.88 y:0.10 z:0.07], yaw_start:227.56, yaw_current:137.56]

Answer: CIRCLE: dx:-0.18; dy:-0.49; dz:0.00; yaw:-27.44;


Context: [objects_distance_from_drone[bench x:1.91 y:0.06 z:0.07], yaw_start:227.56, yaw_current:152.56]

Answer: CIRCLE: dx:-0.04; dy:-0.52; dz:0.00; yaw:-12.44;


Context: [objects_distance_from_drone[bench x:1.95 y:-0.06 z:0.06], yaw_start:227.56, yaw_current:167.56]

Answer: CIRCLE: dx:0.09; dy:-0.51; dz:0.00; yaw:2.56;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.10 z:0.08], yaw_start:227.56, yaw_current:182.56]

Answer: CIRCLE: dx:0.22; dy:-0.47; dz:0.00; yaw:17.56;


Context: [objects_distance_from_drone[bench x:1.98 y:-0.07 z:0.10], yaw_start:227.56, yaw_current:197.56]

Answer: CIRCLE: dx:0.34; dy:-0.40; dz:0.00; yaw:32.56;


Context: [drone_absolute_movement x:5.63 y:5.97 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.02 z:0.12]]

Answer: RETURN: dx:-5.63; dy:-5.97;


Context: [objects_distance_from_drone[bench x:10.12 y:-0.30 z:0.51]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:8.97 y:-3.22 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:8.97 y:-3.22 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:12.71 y:-1.16 z:0.35, BMW X5 x:8.54 y:4.70 z:0.35, oil barrel x:11.38 y:-5.00 z:-0.06]]

Answer: MOVE: x:10.71; y:-1.16; z:0.35


Context: [objects_distance_from_drone[pedestrian x:2.09 y:-0.00 z:0.11], yaw_start:132.87, yaw_current:117.87]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-47.13;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:132.87, yaw_current:132.87]

Answer: CIRCLE: dx:-0.22; dy:-0.47; dz:0.00; yaw:-32.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:132.87, yaw_current:147.87]

Answer: CIRCLE: dx:-0.09; dy:-0.51; dz:0.00; yaw:-17.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:132.87, yaw_current:162.87]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-2.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:132.87, yaw_current:177.87]

Answer: CIRCLE: dx:0.18; dy:-0.49; dz:0.00; yaw:12.87;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10, BMW X5 x:5.09 y:2.49 z:0.22], yaw_start:132.87, yaw_current:192.87]

Answer: CIRCLE: dx:0.30; dy:-0.43; dz:0.00; yaw:27.87;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09, BMW X5 x:6.97 y:5.41 z:0.35], yaw_start:132.87, yaw_current:207.87]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:42.87;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:7.21 y:4.30 z:0.35], yaw_start:132.87, yaw_current:222.87]

Answer: CIRCLE: dx:0.47; dy:-0.22; dz:0.00; yaw:57.87;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:-0.00 z:0.09, BMW X5 x:8.13 y:2.04 z:0.35], yaw_start:132.87, yaw_current:237.87]

Answer: CIRCLE: dx:0.51; dy:-0.09; dz:0.00; yaw:72.87;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:8.38 y:0.11 z:0.34, bench x:15.02 y:6.94 z:0.08], yaw_start:132.87, yaw_current:252.87]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:87.87;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:8.20 y:-1.66 z:0.34, bench x:16.36 y:2.97 z:0.08], yaw_start:132.87, yaw_current:267.87]

Answer: CIRCLE: dx:0.49; dy:0.18; dz:0.00; yaw:102.87;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:7.27 y:-3.68 z:0.34, bench x:16.64 y:-0.85 z:0.07], yaw_start:132.87, yaw_current:282.87]

Answer: CIRCLE: dx:0.43; dy:0.30; dz:0.00; yaw:117.87;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:6.65 y:-3.59 z:0.00, bench x:15.92 y:-4.62 z:0.07], yaw_start:132.87, yaw_current:297.87]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:132.87;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:6.30 y:-2.90 z:0.39], yaw_start:132.87, yaw_current:312.87]

Answer: CIRCLE: dx:0.22; dy:0.47; dz:0.00; yaw:147.87;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:0.00 z:0.09], yaw_start:132.87, yaw_current:327.87]

Answer: CIRCLE: dx:0.09; dy:0.51; dz:0.00; yaw:162.87;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:5.40 y:2.20 z:-0.07], yaw_start:132.87, yaw_current:342.87]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:177.87;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:5.86 y:1.26 z:-0.07], yaw_start:132.87, yaw_current:357.87]

Answer: CIRCLE: dx:-0.18; dy:0.49; dz:0.00; yaw:-167.13;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09, oil barrel x:6.06 y:0.21 z:-0.07], yaw_start:132.87, yaw_current:12.87]

Answer: CIRCLE: dx:-0.30; dy:0.43; dz:0.00; yaw:-152.13;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10, oil barrel x:5.98 y:-0.86 z:-0.07], yaw_start:132.87, yaw_current:27.87]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-137.13;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:0.00 z:0.10, oil barrel x:5.63 y:-1.87 z:-0.07], yaw_start:132.87, yaw_current:42.87]

Answer: CIRCLE: dx:-0.47; dy:0.22; dz:0.00; yaw:-122.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:132.87, yaw_current:57.87]

Answer: CIRCLE: dx:-0.51; dy:0.09; dz:0.00; yaw:-107.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10, BMW X5 x:-3.68 y:0.03 z:0.05], yaw_start:132.87, yaw_current:72.87]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-92.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:132.87, yaw_current:87.87]

Answer: CIRCLE: dx:-0.49; dy:-0.18; dz:0.00; yaw:-77.13;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:132.87, yaw_current:102.87]

Answer: CIRCLE: dx:-0.43; dy:-0.30; dz:0.00; yaw:-62.13;


Context: [drone_absolute_movement x:7.54 y:-7.68 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:-7.54; dy:7.68;


Context: [objects_distance_from_drone[pedestrian x:12.63 y:0.20 z:1.08, BMW X5 x:7.69 y:3.99 z:0.42, oil barrel x:11.74 y:-3.80 z:0.66]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:3.47 y:2.83 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:3.91 y:1.88 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:7.89 y:-0.82 z:0.35]]

Answer: MOVE: x:3.89; y:-0.82; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.09 y:-0.01 z:0.38], yaw_start:102.45, yaw_current:87.45]

Answer: CIRCLE: dx:-0.98; dy:-0.36; dz:0.00; yaw:-77.55;


Context: [objects_distance_from_drone[BMW X5 x:4.01 y:0.19 z:0.35], yaw_start:102.45, yaw_current:102.45]

Answer: CIRCLE: dx:-0.86; dy:-0.60; dz:0.00; yaw:-62.55;


Context: [objects_distance_from_drone[BMW X5 x:4.02 y:0.30 z:0.35], yaw_start:102.45, yaw_current:117.45]

Answer: CIRCLE: dx:-0.67; dy:-0.80; dz:0.00; yaw:-47.55;


Context: [objects_distance_from_drone[BMW X5 x:4.03 y:0.34 z:0.35], yaw_start:102.45, yaw_current:132.45]

Answer: CIRCLE: dx:-0.44; dy:-0.95; dz:0.00; yaw:-32.55;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:0.22 z:0.34], yaw_start:102.45, yaw_current:147.45]

Answer: CIRCLE: dx:-0.18; dy:-1.03; dz:0.00; yaw:-17.55;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.05 z:0.34], yaw_start:102.45, yaw_current:162.45]

Answer: CIRCLE: dx:0.09; dy:-1.04; dz:0.00; yaw:-2.55;


Context: [objects_distance_from_drone[BMW X5 x:3.88 y:-0.14 z:0.34], yaw_start:102.45, yaw_current:177.45]

Answer: CIRCLE: dx:0.36; dy:-0.98; dz:0.00; yaw:12.45;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:0.01 z:0.34], yaw_start:102.45, yaw_current:192.45]

Answer: CIRCLE: dx:0.60; dy:-0.86; dz:0.00; yaw:27.45;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.18 z:0.40], yaw_start:102.45, yaw_current:207.45]

Answer: CIRCLE: dx:0.80; dy:-0.67; dz:0.00; yaw:42.45;


Context: [objects_distance_from_drone[BMW X5 x:3.91 y:-0.43 z:0.44], yaw_start:102.45, yaw_current:222.45]

Answer: CIRCLE: dx:0.95; dy:-0.44; dz:0.00; yaw:57.45;


Context: [objects_distance_from_drone[BMW X5 x:3.96 y:-0.44 z:0.47], yaw_start:102.45, yaw_current:237.45]

Answer: CIRCLE: dx:1.03; dy:-0.18; dz:0.00; yaw:72.45;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.36 z:0.48], yaw_start:102.45, yaw_current:252.45]

Answer: CIRCLE: dx:1.04; dy:0.09; dz:0.00; yaw:87.45;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:-0.18 z:0.46], yaw_start:102.45, yaw_current:267.45]

Answer: CIRCLE: dx:0.98; dy:0.36; dz:0.00; yaw:102.45;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.07 z:0.47], yaw_start:102.45, yaw_current:282.45]

Answer: CIRCLE: dx:0.86; dy:0.60; dz:0.00; yaw:117.45;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.23 z:0.49], yaw_start:102.45, yaw_current:297.45]

Answer: CIRCLE: dx:0.67; dy:0.80; dz:0.00; yaw:132.45;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.32 z:0.48], yaw_start:102.45, yaw_current:312.45]

Answer: CIRCLE: dx:0.44; dy:0.95; dz:0.00; yaw:147.45;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:0.22 z:0.44], yaw_start:102.45, yaw_current:327.45]

Answer: CIRCLE: dx:0.18; dy:1.03; dz:0.00; yaw:162.45;


Context: [objects_distance_from_drone[BMW X5 x:3.76 y:0.01 z:0.40], yaw_start:102.45, yaw_current:342.45]

Answer: CIRCLE: dx:-0.09; dy:1.04; dz:0.00; yaw:177.45;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:-0.03 z:0.35], yaw_start:102.45, yaw_current:357.45]

Answer: CIRCLE: dx:-0.36; dy:0.98; dz:0.00; yaw:-167.55;


Context: [objects_distance_from_drone[BMW X5 x:3.77 y:0.18 z:0.34], yaw_start:102.45, yaw_current:12.45]

Answer: CIRCLE: dx:-0.60; dy:0.86; dz:0.00; yaw:-152.55;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:0.02 z:0.35], yaw_start:102.45, yaw_current:27.45]

Answer: CIRCLE: dx:-0.80; dy:0.67; dz:0.00; yaw:-137.55;


Context: [objects_distance_from_drone[BMW X5 x:3.89 y:-0.20 z:0.35], yaw_start:102.45, yaw_current:42.45]

Answer: CIRCLE: dx:-0.95; dy:0.44; dz:0.00; yaw:-122.55;


Context: [objects_distance_from_drone[BMW X5 x:3.97 y:-0.26 z:0.34], yaw_start:102.45, yaw_current:57.45]

Answer: CIRCLE: dx:-1.03; dy:0.18; dz:0.00; yaw:-107.55;


Context: [objects_distance_from_drone[BMW X5 x:3.99 y:-0.18 z:0.35], yaw_start:102.45, yaw_current:72.45]

Answer: CIRCLE: dx:-1.04; dy:-0.09; dz:0.00; yaw:-92.55;


Context: [drone_absolute_movement x:0.91 y:-3.90 z:0.50, objects_distance_from_drone[BMW X5 x:4.00 y:-0.03 z:0.35]]

Answer: RETURN: dx:-0.91; dy:3.90;


Context: [objects_distance_from_drone[BMW X5 x:7.91 y:-0.03 z:0.37]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:5.92 y:-4.83 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:5.90 y:-4.84 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[dog x:11.26 y:0.98 z:-0.14]]

Answer: MOVE: x:9.26; y:0.98; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:-0.00 z:-0.16], yaw_start:353.98, yaw_current:338.98]

Answer: CIRCLE: dx:-0.01; dy:0.52; dz:0.00; yaw:173.98;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.01 z:-0.14], yaw_start:353.98, yaw_current:353.98]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-171.02;


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14], yaw_start:353.98, yaw_current:8.98]

Answer: CIRCLE: dx:-0.27; dy:0.45; dz:0.00; yaw:-156.02;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.00 z:-0.14], yaw_start:353.98, yaw_current:23.98]

Answer: CIRCLE: dx:-0.38; dy:0.36; dz:0.00; yaw:-141.02;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.02 z:-0.14], yaw_start:353.98, yaw_current:38.98]

Answer: CIRCLE: dx:-0.46; dy:0.25; dz:0.00; yaw:-126.02;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.03 z:-0.14], yaw_start:353.98, yaw_current:53.98]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-111.02;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:353.98, yaw_current:68.98]

Answer: CIRCLE: dx:-0.52; dy:-0.01; dz:0.00; yaw:-96.02;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:353.98, yaw_current:83.98]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-81.02;


Context: [objects_distance_from_drone[pedestrian x:12.27 y:4.63 z:0.35, dog x:1.99 y:-0.05 z:-0.14], yaw_start:353.98, yaw_current:98.98]

Answer: CIRCLE: dx:-0.45; dy:-0.27; dz:0.00; yaw:-66.02;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14], yaw_start:353.98, yaw_current:113.98]

Answer: CIRCLE: dx:-0.36; dy:-0.38; dz:0.00; yaw:-51.02;


Context: [objects_distance_from_drone[pedestrian x:13.22 y:-1.10 z:0.34, dog x:1.96 y:-0.03 z:-0.14, bench x:19.20 y:6.22 z:0.08], yaw_start:353.98, yaw_current:128.98]

Answer: CIRCLE: dx:-0.25; dy:-0.46; dz:0.00; yaw:-36.02;


Context: [objects_distance_from_drone[pedestrian x:12.56 y:-3.98 z:0.34, dog x:1.95 y:-0.03 z:-0.14], yaw_start:353.98, yaw_current:143.98]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-21.02;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.01 z:-0.14, bench x:20.01 y:-3.23 z:0.07], yaw_start:353.98, yaw_current:158.98]

Answer: CIRCLE: dx:0.01; dy:-0.52; dz:0.00; yaw:-6.02;


Context: [objects_distance_from_drone[dog x:1.93 y:-0.01 z:-0.14, bench x:18.49 y:-7.96 z:0.07], yaw_start:353.98, yaw_current:173.98]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:8.98;


Context: [objects_distance_from_drone[BMW X5 x:11.42 y:7.31 z:0.40, dog x:1.93 y:-0.02 z:-0.14, oil barrel x:8.56 y:2.63 z:-0.06], yaw_start:353.98, yaw_current:188.98]

Answer: CIRCLE: dx:0.27; dy:-0.45; dz:0.00; yaw:23.98;


Context: [objects_distance_from_drone[BMW X5 x:13.96 y:5.28 z:0.35, dog x:1.94 y:-0.02 z:-0.14, oil barrel x:9.02 y:0.83 z:-0.07], yaw_start:353.98, yaw_current:203.98]

Answer: CIRCLE: dx:0.38; dy:-0.36; dz:0.00; yaw:38.98;


Context: [objects_distance_from_drone[dog x:1.94 y:-0.00 z:-0.14], yaw_start:353.98, yaw_current:218.98]

Answer: CIRCLE: dx:0.46; dy:-0.25; dz:0.00; yaw:53.98;


Context: [objects_distance_from_drone[BMW X5 x:14.85 y:-1.67 z:0.34, dog x:1.95 y:0.01 z:-0.14, oil barrel x:8.50 y:-2.81 z:-0.07], yaw_start:353.98, yaw_current:233.98]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:68.98;


Context: [objects_distance_from_drone[BMW X5 x:13.99 y:-5.26 z:0.34, dog x:1.97 y:0.02 z:-0.14], yaw_start:353.98, yaw_current:248.98]

Answer: CIRCLE: dx:0.52; dy:0.01; dz:0.00; yaw:83.98;


Context: [objects_distance_from_drone[BMW X5 x:12.32 y:-5.26 z:0.54, dog x:1.97 y:0.03 z:-0.14], yaw_start:353.98, yaw_current:263.98]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:98.98;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:353.98, yaw_current:278.98]

Answer: CIRCLE: dx:0.45; dy:0.27; dz:0.00; yaw:113.98;


Context: [objects_distance_from_drone[dog x:1.96 y:0.02 z:-0.14], yaw_start:353.98, yaw_current:293.98]

Answer: CIRCLE: dx:0.36; dy:0.38; dz:0.00; yaw:128.98;


Context: [objects_distance_from_drone[dog x:1.98 y:0.02 z:-0.14], yaw_start:353.98, yaw_current:308.98]

Answer: CIRCLE: dx:0.25; dy:0.46; dz:0.00; yaw:143.98;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:353.98, yaw_current:323.98]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:158.98;


Context: [drone_absolute_movement x:-9.24 y:0.94 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:9.24; dy:-0.94;


Context: [objects_distance_from_drone[dog x:11.19 y:-0.12 z:-0.07]]

Answer: LAND


Context: [objects_distance_from_drone[BMW X5 x:10.09 y:0.56 z:0.87]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[BMW X5 x:10.06 y:0.52 z:0.37]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:9.11 y:0.77 z:0.08]]

Answer: MOVE: x:7.11; y:0.77; z:0.08


Context: [objects_distance_from_drone[bench x:2.10 y:0.01 z:0.06], yaw_start:339.71, yaw_current:324.71]

Answer: CIRCLE: dx:0.12; dy:0.51; dz:0.00; yaw:159.71;


Context: [objects_distance_from_drone[bench x:1.96 y:-0.20 z:0.07], yaw_start:339.71, yaw_current:339.71]

Answer: CIRCLE: dx:-0.02; dy:0.52; dz:0.00; yaw:174.71;


Context: [objects_distance_from_drone[bench x:1.91 y:-0.21 z:0.07], yaw_start:339.71, yaw_current:354.71]

Answer: CIRCLE: dx:-0.15; dy:0.50; dz:0.00; yaw:-170.29;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.15 z:0.07], yaw_start:339.71, yaw_current:9.71]

Answer: CIRCLE: dx:-0.28; dy:0.44; dz:0.00; yaw:-155.29;


Context: [objects_distance_from_drone[bench x:1.85 y:-0.25 z:0.07], yaw_start:339.71, yaw_current:24.71]

Answer: CIRCLE: dx:-0.38; dy:0.35; dz:0.00; yaw:-140.29;


Context: [objects_distance_from_drone[bench x:1.83 y:-0.29 z:0.08], yaw_start:339.71, yaw_current:39.71]

Answer: CIRCLE: dx:-0.46; dy:0.24; dz:0.00; yaw:-125.29;


Context: [objects_distance_from_drone[bench x:1.84 y:-0.25 z:0.10], yaw_start:339.71, yaw_current:54.71]

Answer: CIRCLE: dx:-0.51; dy:0.12; dz:0.00; yaw:-110.29;


Context: [objects_distance_from_drone[pedestrian x:15.18 y:4.97 z:0.35, bench x:1.84 y:-0.17 z:0.11], yaw_start:339.71, yaw_current:69.71]

Answer: CIRCLE: dx:-0.52; dy:-0.02; dz:0.00; yaw:-95.29;


Context: [objects_distance_from_drone[pedestrian x:16.02 y:1.39 z:0.34, bench x:1.81 y:-0.06 z:0.13], yaw_start:339.71, yaw_current:84.71]

Answer: CIRCLE: dx:-0.50; dy:-0.15; dz:0.00; yaw:-80.29;


Context: [objects_distance_from_drone[bench x:1.81 y:0.10 z:0.13], yaw_start:339.71, yaw_current:99.71]

Answer: CIRCLE: dx:-0.44; dy:-0.28; dz:0.00; yaw:-65.29;


Context: [objects_distance_from_drone[pedestrian x:14.84 y:-5.80 z:0.34, bench x:1.82 y:0.19 z:0.13], yaw_start:339.71, yaw_current:114.71]

Answer: CIRCLE: dx:-0.35; dy:-0.38; dz:0.00; yaw:-50.29;


Context: [objects_distance_from_drone[bench x:1.81 y:0.25 z:0.13], yaw_start:339.71, yaw_current:129.71]

Answer: CIRCLE: dx:-0.24; dy:-0.46; dz:0.00; yaw:-35.29;


Context: [objects_distance_from_drone[bench x:1.80 y:0.24 z:0.13], yaw_start:339.71, yaw_current:144.71]

Answer: CIRCLE: dx:-0.12; dy:-0.51; dz:0.00; yaw:-20.29;


Context: [objects_distance_from_drone[bench x:1.81 y:0.15 z:0.13], yaw_start:339.71, yaw_current:159.71]

Answer: CIRCLE: dx:0.02; dy:-0.52; dz:0.00; yaw:-5.29;


Context: [objects_distance_from_drone[bench x:1.86 y:0.16 z:0.08], yaw_start:339.71, yaw_current:174.71]

Answer: CIRCLE: dx:0.15; dy:-0.50; dz:0.00; yaw:9.71;


Context: [objects_distance_from_drone[bench x:1.93 y:0.21 z:0.10], yaw_start:339.71, yaw_current:189.71]

Answer: CIRCLE: dx:0.28; dy:-0.44; dz:0.00; yaw:24.71;


Context: [objects_distance_from_drone[bench x:1.95 y:0.08 z:0.13], yaw_start:339.71, yaw_current:204.71]

Answer: CIRCLE: dx:0.38; dy:-0.35; dz:0.00; yaw:39.71;


Context: [objects_distance_from_drone[bench x:1.99 y:-0.05 z:0.13], yaw_start:339.71, yaw_current:219.71]

Answer: CIRCLE: dx:0.46; dy:-0.24; dz:0.00; yaw:54.71;


Context: [objects_distance_from_drone[bench x:2.01 y:-0.06 z:0.13], yaw_start:339.71, yaw_current:234.71]

Answer: CIRCLE: dx:0.51; dy:-0.12; dz:0.00; yaw:69.71;


Context: [objects_distance_from_drone[bench x:2.02 y:-0.04 z:0.13], yaw_start:339.71, yaw_current:249.71]

Answer: CIRCLE: dx:0.52; dy:0.02; dz:0.00; yaw:84.71;


Context: [objects_distance_from_drone[bench x:2.03 y:-0.00 z:0.13], yaw_start:339.71, yaw_current:264.71]

Answer: CIRCLE: dx:0.50; dy:0.15; dz:0.00; yaw:99.71;


Context: [objects_distance_from_drone[bench x:2.05 y:0.01 z:0.11], yaw_start:339.71, yaw_current:279.71]

Answer: CIRCLE: dx:0.44; dy:0.28; dz:0.00; yaw:114.71;


Context: [objects_distance_from_drone[bench x:2.04 y:0.03 z:0.09], yaw_start:339.71, yaw_current:294.71]

Answer: CIRCLE: dx:0.35; dy:0.38; dz:0.00; yaw:129.71;


Context: [objects_distance_from_drone[bench x:2.04 y:0.03 z:0.07], yaw_start:339.71, yaw_current:309.71]

Answer: CIRCLE: dx:0.24; dy:0.46; dz:0.00; yaw:144.71;


Context: [drone_absolute_movement x:-6.58 y:2.62 z:0.50, objects_distance_from_drone[bench x:1.99 y:-0.05 z:0.07]]

Answer: RETURN: dx:6.58; dy:-2.62;


Context: [objects_distance_from_drone[bench x:9.00 y:-0.49 z:0.08]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[pedestrian x:13.70 y:-1.26 z:0.34, BMW X5 x:3.46 y:1.62 z:-0.14]]

Answer: MOVE: x:11.70; y:-1.26; z:0.34


Context: [objects_distance_from_drone[pedestrian x:2.09 y:0.00 z:0.11], yaw_start:34.42, yaw_current:19.42]

Answer: CIRCLE: dx:-0.35; dy:0.39; dz:0.00; yaw:-145.58;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:34.42]

Answer: CIRCLE: dx:-0.44; dy:0.28; dz:0.00; yaw:-130.58;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:49.42]

Answer: CIRCLE: dx:-0.50; dy:0.16; dz:0.00; yaw:-115.58;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:64.42]

Answer: CIRCLE: dx:-0.52; dy:0.03; dz:0.00; yaw:-100.58;


Context: [objects_distance_from_drone[pedestrian x:1.98 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:79.42]

Answer: CIRCLE: dx:-0.51; dy:-0.11; dz:0.00; yaw:-85.58;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:94.42]

Answer: CIRCLE: dx:-0.47; dy:-0.24; dz:0.00; yaw:-70.58;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:109.42]

Answer: CIRCLE: dx:-0.39; dy:-0.35; dz:0.00; yaw:-55.58;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:-0.00 z:0.09], yaw_start:34.42, yaw_current:124.42]

Answer: CIRCLE: dx:-0.28; dy:-0.44; dz:0.00; yaw:-40.58;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:-0.00 z:0.09, BMW X5 x:9.96 y:6.04 z:0.01, bench x:18.79 y:5.67 z:0.08], yaw_start:34.42, yaw_current:139.42]

Answer: CIRCLE: dx:-0.16; dy:-0.50; dz:0.00; yaw:-25.58;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:11.57 y:4.93 z:0.35, dog x:16.86 y:5.49 z:-0.13, bench x:19.69 y:1.12 z:0.08], yaw_start:34.42, yaw_current:154.42]

Answer: CIRCLE: dx:-0.03; dy:-0.52; dz:0.00; yaw:-10.58;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:12.37 y:1.66 z:0.35, dog x:17.79 y:1.44 z:-0.14, bench x:19.38 y:-3.50 z:0.07], yaw_start:34.42, yaw_current:169.42]

Answer: CIRCLE: dx:0.11; dy:-0.51; dz:0.00; yaw:4.42;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:12.44 y:-1.09 z:0.34, bench x:17.88 y:-7.92 z:0.06, oil barrel x:23.59 y:9.19 z:-0.05], yaw_start:34.42, yaw_current:184.42]

Answer: CIRCLE: dx:0.24; dy:-0.47; dz:0.00; yaw:19.42;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:11.79 y:-4.16 z:0.34, oil barrel x:25.24 y:3.28 z:-0.07], yaw_start:34.42, yaw_current:199.42]

Answer: CIRCLE: dx:0.35; dy:-0.39; dz:0.00; yaw:34.42;


Context: [objects_distance_from_drone[pedestrian x:1.94 y:-0.00 z:0.09, BMW X5 x:11.25 y:-6.68 z:0.34, oil barrel x:25.30 y:-2.85 z:-0.07], yaw_start:34.42, yaw_current:214.42]

Answer: CIRCLE: dx:0.44; dy:-0.28; dz:0.00; yaw:49.42;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09, oil barrel x:23.77 y:-8.79 z:-0.08], yaw_start:34.42, yaw_current:229.42]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:64.42;


Context: [objects_distance_from_drone[pedestrian x:1.95 y:0.00 z:0.09], yaw_start:34.42, yaw_current:244.42]

Answer: CIRCLE: dx:0.52; dy:-0.03; dz:0.00; yaw:79.42;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:34.42, yaw_current:259.42]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:94.42;


Context: [objects_distance_from_drone[pedestrian x:1.96 y:0.00 z:0.09], yaw_start:34.42, yaw_current:274.42]

Answer: CIRCLE: dx:0.47; dy:0.24; dz:0.00; yaw:109.42;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.09], yaw_start:34.42, yaw_current:289.42]

Answer: CIRCLE: dx:0.39; dy:0.35; dz:0.00; yaw:124.42;


Context: [objects_distance_from_drone[pedestrian x:1.97 y:0.00 z:0.10], yaw_start:34.42, yaw_current:304.42]

Answer: CIRCLE: dx:0.28; dy:0.44; dz:0.00; yaw:139.42;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:34.42, yaw_current:319.42]

Answer: CIRCLE: dx:0.16; dy:0.50; dz:0.00; yaw:154.42;


Context: [objects_distance_from_drone[pedestrian x:1.99 y:0.00 z:0.10], yaw_start:34.42, yaw_current:334.42]

Answer: CIRCLE: dx:0.03; dy:0.52; dz:0.00; yaw:169.42;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:0.00 z:0.10], yaw_start:34.42, yaw_current:349.42]

Answer: CIRCLE: dx:-0.11; dy:0.51; dz:0.00; yaw:-175.58;


Context: [objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10], yaw_start:34.42, yaw_current:4.42]

Answer: CIRCLE: dx:-0.24; dy:0.47; dz:0.00; yaw:-160.58;


Context: [drone_absolute_movement x:-9.68 y:-6.65 z:0.50, objects_distance_from_drone[pedestrian x:2.00 y:-0.00 z:0.10]]

Answer: RETURN: dx:9.68; dy:6.65;


Context: [objects_distance_from_drone[pedestrian x:13.64 y:-0.40 z:0.41, BMW X5 x:4.38 y:1.32 z:0.05]]

Answer: LAND


Context: [objects_distance_from_drone[bench x:12.09 y:-0.55 z:0.57]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[bench x:12.06 y:-0.50 z:0.10]]

Answer: SEARCH


Context: [objects_distance_from_drone[BMW X5 x:10.80 y:-0.88 z:0.35, oil barrel x:12.44 y:5.16 z:-0.07]]

Answer: MOVE: x:6.80; y:-0.88; z:0.35


Context: [objects_distance_from_drone[BMW X5 x:4.10 y:0.00 z:0.34], yaw_start:39.21, yaw_current:24.21]

Answer: CIRCLE: dx:-0.76; dy:0.72; dz:0.00; yaw:-140.79;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.16 z:0.47], yaw_start:39.21, yaw_current:39.21]

Answer: CIRCLE: dx:-0.92; dy:0.49; dz:0.00; yaw:-125.79;


Context: [objects_distance_from_drone[BMW X5 x:3.99 y:0.27 z:0.47], yaw_start:39.21, yaw_current:54.21]

Answer: CIRCLE: dx:-1.02; dy:0.24; dz:0.00; yaw:-110.79;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:0.31 z:0.45], yaw_start:39.21, yaw_current:69.21]

Answer: CIRCLE: dx:-1.04; dy:-0.03; dz:0.00; yaw:-95.79;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:0.13 z:0.42], yaw_start:39.21, yaw_current:84.21]

Answer: CIRCLE: dx:-1.00; dy:-0.30; dz:0.00; yaw:-80.79;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:-0.11 z:0.37], yaw_start:39.21, yaw_current:99.21]

Answer: CIRCLE: dx:-0.89; dy:-0.55; dz:0.00; yaw:-65.79;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.09 z:0.35], yaw_start:39.21, yaw_current:114.21]

Answer: CIRCLE: dx:-0.72; dy:-0.76; dz:0.00; yaw:-50.79;


Context: [objects_distance_from_drone[BMW X5 x:3.80 y:0.07 z:0.35], yaw_start:39.21, yaw_current:129.21]

Answer: CIRCLE: dx:-0.49; dy:-0.92; dz:0.00; yaw:-35.79;


Context: [objects_distance_from_drone[BMW X5 x:3.84 y:-0.17 z:0.35], yaw_start:39.21, yaw_current:144.21]

Answer: CIRCLE: dx:-0.24; dy:-1.02; dz:0.00; yaw:-20.79;


Context: [objects_distance_from_drone[BMW X5 x:3.90 y:-0.39 z:0.35], yaw_start:39.21, yaw_current:159.21]

Answer: CIRCLE: dx:0.03; dy:-1.04; dz:0.00; yaw:-5.79;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.37 z:0.35], yaw_start:39.21, yaw_current:174.21]

Answer: CIRCLE: dx:0.30; dy:-1.00; dz:0.00; yaw:9.21;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.26 z:0.35], yaw_start:39.21, yaw_current:189.21]

Answer: CIRCLE: dx:0.55; dy:-0.89; dz:0.00; yaw:24.21;


Context: [objects_distance_from_drone[BMW X5 x:3.95 y:-0.07 z:0.35], yaw_start:39.21, yaw_current:204.21]

Answer: CIRCLE: dx:0.76; dy:-0.72; dz:0.00; yaw:39.21;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.17 z:0.34], yaw_start:39.21, yaw_current:219.21]

Answer: CIRCLE: dx:0.92; dy:-0.49; dz:0.00; yaw:54.21;


Context: [objects_distance_from_drone[BMW X5 x:3.94 y:0.30 z:0.35], yaw_start:39.21, yaw_current:234.21]

Answer: CIRCLE: dx:1.02; dy:-0.24; dz:0.00; yaw:69.21;


Context: [objects_distance_from_drone[BMW X5 x:3.92 y:0.35 z:0.35], yaw_start:39.21, yaw_current:249.21]

Answer: CIRCLE: dx:1.04; dy:0.03; dz:0.00; yaw:84.21;


Context: [objects_distance_from_drone[BMW X5 x:3.85 y:0.20 z:0.34], yaw_start:39.21, yaw_current:264.21]

Answer: CIRCLE: dx:1.00; dy:0.30; dz:0.00; yaw:99.21;


Context: [objects_distance_from_drone[BMW X5 x:3.81 y:-0.03 z:0.34], yaw_start:39.21, yaw_current:279.21]

Answer: CIRCLE: dx:0.89; dy:0.55; dz:0.00; yaw:114.21;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:-0.00 z:0.34], yaw_start:39.21, yaw_current:294.21]

Answer: CIRCLE: dx:0.72; dy:0.76; dz:0.00; yaw:129.21;


Context: [objects_distance_from_drone[BMW X5 x:3.82 y:0.16 z:0.35], yaw_start:39.21, yaw_current:309.21]

Answer: CIRCLE: dx:0.49; dy:0.92; dz:0.00; yaw:144.21;


Context: [objects_distance_from_drone[BMW X5 x:3.86 y:-0.08 z:0.41], yaw_start:39.21, yaw_current:324.21]

Answer: CIRCLE: dx:0.24; dy:1.02; dz:0.00; yaw:159.21;


Context: [objects_distance_from_drone[BMW X5 x:3.93 y:-0.32 z:0.44], yaw_start:39.21, yaw_current:339.21]

Answer: CIRCLE: dx:-0.03; dy:1.04; dz:0.00; yaw:174.21;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:-0.31 z:0.47], yaw_start:39.21, yaw_current:354.21]

Answer: CIRCLE: dx:-0.30; dy:1.00; dz:0.00; yaw:-170.79;


Context: [objects_distance_from_drone[BMW X5 x:3.98 y:-0.22 z:0.47], yaw_start:39.21, yaw_current:9.21]

Answer: CIRCLE: dx:-0.55; dy:0.89; dz:0.00; yaw:-155.79;


Context: [drone_absolute_movement x:-5.28 y:-4.29 z:0.50, objects_distance_from_drone[BMW X5 x:3.99 y:-0.04 z:0.45]]

Answer: RETURN: dx:5.28; dy:4.29;


Context: [objects_distance_from_drone[BMW X5 x:10.69 y:-0.12 z:0.66]]

Answer: LAND


Answer: TAKEOFF


Answer: SEARCH


Context: [objects_distance_from_drone[dog x:11.59 y:1.04 z:-0.14, oil barrel x:5.48 y:-1.33 z:-0.07]]

Answer: MOVE: x:9.59; y:1.04; z:-0.14


Context: [objects_distance_from_drone[dog x:2.10 y:0.00 z:-0.16], yaw_start:298.32, yaw_current:283.32]

Answer: CIRCLE: dx:0.42; dy:0.31; dz:0.00; yaw:118.32;


Context: [objects_distance_from_drone[dog x:1.99 y:-0.03 z:-0.14], yaw_start:298.32, yaw_current:298.32]

Answer: CIRCLE: dx:0.33; dy:0.40; dz:0.00; yaw:133.32;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:298.32, yaw_current:313.32]

Answer: CIRCLE: dx:0.21; dy:0.48; dz:0.00; yaw:148.32;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.06 z:-0.14], yaw_start:298.32, yaw_current:328.32]

Answer: CIRCLE: dx:0.08; dy:0.52; dz:0.00; yaw:163.32;


Context: [objects_distance_from_drone[dog x:1.98 y:-0.05 z:-0.14], yaw_start:298.32, yaw_current:343.32]

Answer: CIRCLE: dx:-0.05; dy:0.52; dz:0.00; yaw:178.32;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.05 z:-0.14], yaw_start:298.32, yaw_current:358.32]

Answer: CIRCLE: dx:-0.19; dy:0.49; dz:0.00; yaw:-166.68;


Context: [objects_distance_from_drone[dog x:1.97 y:-0.04 z:-0.14, bench x:8.84 y:5.02 z:0.08], yaw_start:298.32, yaw_current:13.32]

Answer: CIRCLE: dx:-0.31; dy:0.42; dz:0.00; yaw:-151.68;


Context: [objects_distance_from_drone[dog x:1.95 y:-0.03 z:-0.14], yaw_start:298.32, yaw_current:28.32]

Answer: CIRCLE: dx:-0.40; dy:0.33; dz:0.00; yaw:-136.68;


Context: [objects_distance_from_drone[dog x:1.92 y:-0.02 z:-0.14], yaw_start:298.32, yaw_current:43.32]

Answer: CIRCLE: dx:-0.48; dy:0.21; dz:0.00; yaw:-121.68;


Context: [objects_distance_from_drone[dog x:1.92 y:-0.02 z:-0.14, bench x:10.09 y:-1.87 z:0.07], yaw_start:298.32, yaw_current:58.32]

Answer: CIRCLE: dx:-0.52; dy:0.08; dz:0.00; yaw:-106.68;


Context: [objects_distance_from_drone[pedestrian x:19.60 y:6.34 z:0.35, dog x:1.93 y:-0.01 z:-0.14, bench x:9.17 y:-4.25 z:0.07], yaw_start:298.32, yaw_current:73.32]

Answer: CIRCLE: dx:-0.52; dy:-0.05; dz:0.00; yaw:-91.68;


Context: [objects_distance_from_drone[pedestrian x:20.65 y:1.56 z:0.34, dog x:1.93 y:-0.01 z:-0.14, oil barrel x:7.55 y:3.28 z:-0.07], yaw_start:298.32, yaw_current:88.32]

Answer: CIRCLE: dx:-0.49; dy:-0.19; dz:0.00; yaw:-76.68;


Context: [objects_distance_from_drone[pedestrian x:20.41 y:-3.33 z:0.34, BMW X5 x:31.03 y:3.61 z:0.35, dog x:1.94 y:-0.01 z:-0.14, oil barrel x:8.23 y:1.81 z:-0.07], yaw_start:298.32, yaw_current:103.32]

Answer: CIRCLE: dx:-0.42; dy:-0.31; dz:0.00; yaw:-61.68;


Context: [objects_distance_from_drone[pedestrian x:18.93 y:-7.85 z:0.34, BMW X5 x:30.98 y:-4.03 z:0.34, dog x:1.95 y:0.01 z:-0.14], yaw_start:298.32, yaw_current:118.32]

Answer: CIRCLE: dx:-0.33; dy:-0.40; dz:0.00; yaw:-46.68;


Context: [objects_distance_from_drone[BMW X5 x:28.94 y:-11.43 z:0.33, dog x:1.95 y:0.04 z:-0.14, oil barrel x:8.30 y:-1.56 z:-0.07], yaw_start:298.32, yaw_current:133.32]

Answer: CIRCLE: dx:-0.21; dy:-0.48; dz:0.00; yaw:-31.68;


Context: [objects_distance_from_drone[dog x:1.96 y:0.04 z:-0.14, oil barrel x:7.69 y:-3.15 z:-0.07], yaw_start:298.32, yaw_current:148.32]

Answer: CIRCLE: dx:-0.08; dy:-0.52; dz:0.00; yaw:-16.68;


Context: [objects_distance_from_drone[dog x:1.96 y:0.03 z:-0.14], yaw_start:298.32, yaw_current:163.32]

Answer: CIRCLE: dx:0.05; dy:-0.52; dz:0.00; yaw:-1.68;


Context: [objects_distance_from_drone[dog x:1.97 y:0.03 z:-0.14], yaw_start:298.32, yaw_current:178.32]

Answer: CIRCLE: dx:0.19; dy:-0.49; dz:0.00; yaw:13.32;


Context: [objects_distance_from_drone[dog x:1.97 y:0.02 z:-0.14], yaw_start:298.32, yaw_current:193.32]

Answer: CIRCLE: dx:0.31; dy:-0.42; dz:0.00; yaw:28.32;


Context: [objects_distance_from_drone[dog x:1.99 y:0.01 z:-0.14], yaw_start:298.32, yaw_current:208.32]

Answer: CIRCLE: dx:0.40; dy:-0.33; dz:0.00; yaw:43.32;


Context: [objects_distance_from_drone[dog x:2.01 y:0.00 z:-0.14], yaw_start:298.32, yaw_current:223.32]

Answer: CIRCLE: dx:0.48; dy:-0.21; dz:0.00; yaw:58.32;


Context: [objects_distance_from_drone[dog x:2.02 y:0.00 z:-0.14], yaw_start:298.32, yaw_current:238.32]

Answer: CIRCLE: dx:0.52; dy:-0.08; dz:0.00; yaw:73.32;


Context: [objects_distance_from_drone[dog x:2.01 y:-0.00 z:-0.14], yaw_start:298.32, yaw_current:253.32]

Answer: CIRCLE: dx:0.52; dy:0.05; dz:0.00; yaw:88.32;


Context: [objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14], yaw_start:298.32, yaw_current:268.32]

Answer: CIRCLE: dx:0.49; dy:0.19; dz:0.00; yaw:103.32;


Context: [drone_absolute_movement x:-4.55 y:8.53 z:0.50, objects_distance_from_drone[dog x:2.00 y:-0.01 z:-0.14]]

Answer: RETURN: dx:4.55; dy:-8.53;


Context: [objects_distance_from_drone[dog x:11.56 y:-0.31 z:-0.07, oil barrel x:5.24 y:-1.99 z:-0.05]]

Answer: LAND


Context: [objects_distance_from_drone[pedestrian x:8.10 y:-0.15 z:0.84]]

Answer: TAKEOFF


Context: [objects_distance_from_drone[pedestrian x:8.09 y:-0.07 z:0.36]]

Answer: SEARCH


Context: [objects_distance_from_drone[bench x:12.25 y:1.19 z:0.08]]

Answer: MOVE: x:10.25; y:1.19; z:0.08


Context: [objects_distance_from_drone[bench x:2.09 y:-0.03 z:0.13], yaw_start:229.31, yaw_current:214.31]

Answer: CIRCLE: dx:0.44; dy:-0.29; dz:0.00; yaw:49.31;


Context: [objects_distance_from_drone[bench x:2.00 y:0.01 z:0.10], yaw_start:229.31, yaw_current:229.31]

Answer: CIRCLE: dx:0.50; dy:-0.16; dz:0.00; yaw:64.31;


Context: [objects_distance_from_drone[bench x:2.02 y:0.06 z:0.12], yaw_start:229.31, yaw_current:244.31]

Answer: CIRCLE: dx:0.52; dy:-0.03; dz:0.00; yaw:79.31;


Context: [objects_distance_from_drone[bench x:2.01 y:0.08 z:0.13], yaw_start:229.31, yaw_current:259.31]

Answer: CIRCLE: dx:0.51; dy:0.11; dz:0.00; yaw:94.31;


Context: [objects_distance_from_drone[bench x:2.02 y:0.12 z:0.13], yaw_start:229.31, yaw_current:274.31]

Answer: CIRCLE: dx:0.47; dy:0.24; dz:0.00; yaw:109.31;


Context: [objects_distance_from_drone[bench x:2.03 y:0.12 z:0.13], yaw_start:229.31, yaw_current:289.31]

Answer: CIRCLE: dx:0.39; dy:0.35; dz:0.00; yaw:124.31;


Context: [objects_distance_from_drone[bench x:2.01 y:0.08 z:0.13], yaw_start:229.31, yaw_current:304.31]

Answer: CIRCLE: dx:0.29; dy:0.44; dz:0.00; yaw:139.31;