更新vllm后端的使用方法

2025-10-13 11:54:02 +08:00
parent 00cde0d2dc
commit b91291b734
109 changed files with 7953 additions and 737 deletions
--- a/README.md
+++ b/README.md
@@ -61,6 +61,18 @@
    ```bash
    ./llama-server -m ~/models/gguf/Qwen/Qwen3-8B-GGUF/Qwen3-8B-Q4_K_M.gguf --port 8081 --gpu-layers 36 --host 0.0.0.0 -c 8192
    ```
+    至此llama.cpp推理框架就完成了，无需进一步即可启动后端
+
+    如果使用vllm后端，则执行以下命令
+    ```bash
+   vllm serve Qwen3-4B-AWQ       --host=0.0.0.0       --port=8081       --dtype=auto       --max-num-seqs=1       --max-model-len=16384           --served-model-name "qwen3-4b-awq"   --trust-remote-code    --gpu-memory-utilization=0.75       --uvicorn-log-level=debug 
+    ```
+    由于调用vllm时，在发送HTTP请求时需要指定模型名称，所以在启动后端服务前需要添加环境变量，执行以下命令
+    ```bash
+    export CLASSIFIER_MODEL="qwen3-4b-awq"
+    export SIMPLE_MODEL="qwen3-4b-awq"
+    export COMPLEX_MODEL="qwen3-4b-awq"
+    ```

 2. **Embedding模型部署**

@@ -220,6 +232,7 @@ conda activate backend

 # 4. 启动FastAPI服务
 cd backend_service/
+# 如果使用vllm后端此时还应当指定使用的模型名称
 uvicorn src.main:app --host 0.0.0.0 --port 8000
 ```
 当您看到日志中出现 `Uvicorn running on http://0.0.0.0:8000` 时，表示服务已成功启动。
--- a/backend_service/generated_visualizations/py_tree.png
+++ b/backend_service/generated_visualizations/py_tree.png
--- a/backend_service/src/prompts/system_prompt.txt
+++ b/backend_service/src/prompts/system_prompt.txt
@@ -1,258 +1,60 @@
-你是一个无人机任务规划专家。你的唯一任务是根据用户提供的任务指令和参考知识，生成一个结构化、可执行的行为树（Pytree）JSON描述。
-你的输出必须是一个严格的、单一的JSON对象，不包含任何形式的解释、总结或自然语言描述。
+任务：根据用户任意任务指令，生成结构化可执行的无人机行为树（Pytree）JSON。**仅输出单一JSON对象，无任何自然语言、注释或额外内容**，需严格适配后端节点解析与Schema验证逻辑。

-#### 1. 物理约束与安全原则 (必须遵守)
-在规划任何任务前，你必须遵守以下物理现实性和安全约束：
- **续航限制**：单次任务总时间不得超过2700秒（45分钟）
- **高度限制**：飞行高度必须在1-5000米范围内（z坐标≥1）
- **电池安全**：必须包含电池监控，电量低于0.3触发返航，低于0.2触发紧急降落
- **坐标有效**：x,y坐标必须在±10000米范围内，z坐标必须在1-5000米范围内
- **参数合理**：速度、加速度等参数必须在无人机性能范围内（但本任务中速度参数未直接使用，故主要关注坐标和高度）
+
+## 一、核心规则：确保后端能解析允许的节点（必严格遵守）
+后端会从提示词中解析允许的节点列表，以下节点定义部分**格式不可修改**，否则会导致解析失败（进而触发节点非法错误）。

 #### 2. 可用节点定义 (必须遵守)
-你必须严格从以下JSON定义的列表中选择节点来构建行为树。不允许使用任何未定义的节点。
+你必须严格从以下JSON定义的列表中选择节点来构建行为树。不允许使用任何未定义的节点（如"lock_target"等）。
 ```json
 {
  "actions": [
-    {
-      "name": "takeoff",
-      "description": "无人机从当前位置垂直起飞到指定的海拔高度。",
-      "params": {
-        "altitude": "float, 目标海拔高度(米)，范围[1, 100]，默认为2"
-      }
-    },
-    {
-      "name": "land",
-      "description": "降落无人机。可选择当前位置或返航点降落。",
-      "params": {
-        "mode": "string, 可选值: 'current'（当前位置）, 'home'（返航点）"
-      }
-    },
-    {
-      "name": "fly_to_waypoint",
-      "description": "导航至一个指定坐标点。无人机到达航点后该动作才算完成。使用相对坐标系（x,y,z），单位为米。",
-      "params": {
-        "x": "float, X轴坐标(米)，相对起飞点的水平横向距离",
-        "y": "float, Y轴坐标(米)，相对起飞点的水平纵向距离",
-        "z": "float, Z轴坐标(米)，相对起飞点的垂直高度",
-        "acceptance_radius": "float, 可选，到达容差半径(米)，默认2.0"
-      }
-    },
-    {
-      "name": "move_direction",
-      "description": "按指定方向直线移动。方向可为绝对方位或相对机体朝向。",
-      "params": {
-        "direction": "string, 取值: 'north'(北), 'south'(南), 'east'(东), 'west'(西), 'forward'(前), 'backward'(后), 'left'(左), 'right'(右)",
-        "distance": "float, 可选，移动距离(米)[1,10000]；缺省表示持续移动，直至外部条件停止"
-      }
-    },
-    {
-      "name": "orbit_around_point",
-      "description": "以给定中心点为中心，等速圆周飞行指定圈数。",
-      "params": {
-        "center_x": "float, 中心点X坐标(米)",
-        "center_y": "float, 中心点Y坐标(米)",
-        "center_z": "float, 中心点Z坐标(米)",
-        "radius": "float, 半径(米)[5,1000]",
-        "laps": "int, 圈数[1,20]",
-        "clockwise": "boolean, 可选，顺时针为true，默认true",
-        "speed_mps": "float, 可选，线速度(米/秒)[0.5,15]",
-        "gimbal_lock": "boolean, 可选，云台持续指向中心，默认true"
-      }
-    },
-    {
-      "name": "orbit_around_target",
-      "description": "以目标为中心，等速圆周飞行指定圈数。需要已确认目标。",
-      "params": {
-        "target_class": "string, 目标类别，取值同object_detect列表",
-        "description": "string, 可选，目标属性描述",
-        "radius": "float, 半径(米)[5,1000]",
-        "laps": "int, 圈数[1,20]",
-        "clockwise": "boolean, 可选，顺时针为true，默认true",
-        "speed_mps": "float, 可选，线速度(米/秒)[0.5,15]",
-        "gimbal_lock": "boolean, 可选，云台持续指向目标，默认true"
-      }
-    },
-    {
-      "name": "loiter",
-      "description": "在当前位置上空悬停一段时间或直到条件触发。",
-      "params": {
-        "duration": "float, 可选，悬停时间(秒)[1,600]",
-        "until_condition": "string, 可选，等待的条件名称"
-      }
-    },
-    {
-      "name": "object_detect",
-      "description": "在当前视野范围内识别特定目标对象。适用于定点检测，无人机应在目标大致位置悬停或保持稳定姿态。",
-      "params": {
-        "target_class": "string, 要识别的目标类别，必须为以下值之一: person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic_light, fire_hydrant, stop_sign, parking_meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports_ball, kite, baseball_bat, baseball_glove, skateboard, surfboard, tennis_racket, bottle, wine_glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot_dog, pizza, donut, cake, chair, couch, potted_plant, bed, dining_table, toilet, tv, laptop, mouse, remote, keyboard, cell_phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy_bear, hair_drier, toothbrush",
-        "description": "string, 可选，目标属性描述（如颜色、状态等）",
-        "count": "int, 可选，需要检测的目标个数，默认1"
-      }
-    },
-    {
-      "name": "strike_target",
-      "description": "对已识别的目标进行打击。必须先使用object_detect成功识别目标后才能使用此动作。",
-      "params": {
-        "target_class": "string, 要打击的目标类别",
-        "description": "string, 可选，目标属性描述（用于确认目标身份）",
-        "count": "int, 可选，需要打击的目标个数，默认1"
-      }
-    },
-    {
-      "name": "battle_damage_assessment",
-      "description": "对打击效果进行评估，确认目标是否被有效摧毁。",
-      "params": {
-        "target_class": "string, 被打击的目标类别",
-        "assessment_time": "float, 评估时间(秒)[5-60]，默认15.0"
-      }
-    },
-    {
-      "name": "search_pattern",
-      "description": "通过执行一个系统性的移动搜索模式，在指定区域内寻找特定目标。无人机会持续移动并分析视频流，直到找到目标或完成整个搜索模式。适用于在未知区域发现目标。",
-      "params": {
-        "pattern_type": "string, 搜索模式类型: 'spiral'（螺旋搜索）, 'grid'（栅格搜索）",
-        "center_x": "float, 搜索中心X坐标(米)",
-        "center_y": "float, 搜索中心Y坐标(米)",
-        "center_z": "float, 搜索中心Z坐标(米)",
-        "radius": "float, 搜索半径(米)[5,1000]",
-        "target_class": "string, 要寻找的目标类别",
-        "description": "string, 可选，目标属性描述",
-        "count": "int, 可选，需要找到的目标个数，默认1"
-      }
-    },
-    {
-      "name": "track_object",
-      "description": "持续跟踪已识别的目标对象。无人机将保持对目标的视觉锁定并跟随其移动。必须先使用object_detect成功识别目标后才能使用此动作。",
-      "params": {
-        "target_class": "string, 要跟踪的目标类别，必须为以下值之一: person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic_light, fire_hydrant, stop_sign, parking_meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports_ball, kite, baseball_bat, baseball_glove, skateboard, surfboard, tennis_racket, bottle, wine_glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot_dog, pizza, donut, cake, chair, couch, potted_plant, bed, dining_table, toilet, tv, laptop, mouse, remote, keyboard, cell_phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy_bear, hair_drier, toothbrush",
-        "description": "string, 可选，目标属性描述（如颜色、状态等）",
-        "track_time": "float, 跟踪持续时间(秒)[1,600]，默认30.0",
-        "min_confidence": "float, 可选，跟踪置信度阈值[0.5-1.0]，默认0.7",
-        "safe_distance": "float, 可选，保持的安全距离(米)[2-50]，默认10.0"
-      }
-    },
-    {
-      "name": "deliver_payload",
-      "description": "投放携带的物资。",
-      "params": {
-        "payload_type": "string, 物资类型",
-        "release_altitude": "float, 可选，投放高度(米)[2,100]，默认5.0"
-      }
-    },
-    {
-      "name": "preflight_checks",
-      "description": "执行飞行前系统自检。",
-      "params": {
-        "check_level": "string, 检查级别: 'basic'（基础）, 'comprehensive'（全面）"
-      }
-    },
-    {
-      "name": "emergency_return",
-      "description": "执行紧急返航程序。",
-      "params": {
-        "reason": "string, 紧急返航原因"
-      }
-    }
+    {"name":"takeoff","params":{"altitude":"float, 范围[1,100]，默认2"}},
+    {"name":"land","params":{"mode":"string, 'current'/'home'"}},
+    {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
+    {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
+    {"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
+    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
+    {"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
+    {"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，目标属性（如'穿黑色衣服'）","count":"默认1"}},
+    {"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
+    {"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
+    {"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选","count":"默认1"}},
+    {"name":"track_object","params":{"target_class":"同object_detect","description":"可选","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
+    {"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
+    {"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
+    {"name":"emergency_return","params":{"reason":"string"}}
  ],
  "conditions": [
-    {
-      "name": "battery_above",
-      "description": "检查电池电量是否高于指定阈值。",
-      "params": {
-        "threshold": "float, 电量阈值百分比[0.0,1.0]"
-      }
-    },
-    {
-      "name": "at_waypoint",
-      "description": "检查无人机是否在指定坐标点的容差范围内。使用相对坐标系（x,y,z），单位为米。",
-      "params": {
-        "x": "float, 目标X坐标(米)",
-        "y": "float, 目标Y坐标(米)",
-        "z": "float, 目标Z坐标(米)",
-        "tolerance": "float, 可选，容差半径(米)，默认3.0"
-      }
-    },
-    {
-      "name": "object_detected",
-      "description": "检查是否检测到特定目标对象。可用于验证 object_detect 或 search_pattern 的结果，也可作为打击的前提条件。",
-      "params": {
-        "target_class": "string, 目标类型",
-        "description": "string, 可选，目标属性描述",
-        "count": "int, 可选，需要检测到的目标个数，默认1"
-      }
-    },
-    {
-      "name": "target_destroyed",
-      "description": "检查目标是否已被成功摧毁。用于战损评估后的确认。",
-      "params": {
-        "target_class": "string, 目标类型",
-        "description": "string, 可选，目标属性描述",
-        "confidence": "float, 可选，摧毁置信度[0.5-1.0]，默认0.8"
-      }
-    },
-    {
-      "name": "time_elapsed",
-      "description": "检查自任务开始是否经过指定时间。",
-      "params": {
-        "duration": "float, 时间长度(秒)[1,2700]"
-      }
-    },
-    {
-      "name": "gps_status",
-      "description": "检查GPS信号状态是否良好。",
-      "params": {
-        "min_satellites": "int, 最小卫星数量[6,15]，默认10"
-      }
-    }
+    {"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
+    {"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
+    {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选","count":"默认1"}},
+    {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选","confidence":"[0.5,1.0]默认0.8"}},
+    {"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
+    {"name":"gps_status","params":{"min_satellites":"int, 范围[6,15]，必传（如8）"}}
  ],
  "control_flow": [
-    {
-      "name": "Sequence",
-      "description": "序列节点，按顺序执行其子节点。只有当所有子节点都成功时，它才成功。",
-      "params": {},
-      "children": "array, 包含按顺序执行的子节点"
-    },
-    {
-      "name": "Selector",
-      "description": "选择节点，按顺序执行子节点直到一个成功。如果所有子节点都失败，则失败。",
-      "params": {
-        "memory": "boolean, 可选，是否记忆执行状态，默认true"
-      },
-      "children": "array, 包含备选执行的子节点"
-    },
-    {
-      "name": "Parallel",
-      "description": "并行节点，同时执行所有子节点。支持不同的成功策略。",
-      "params": {
-        "policy": "string, 成功策略: 'all_success'（全部成功）, 'one_success'（一个成功）"
-      },
-      "children": "array, 包含并行执行的子节点"
-    }
+    {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
+    {"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
+    {"name":"Parallel","params":{"policy":"all_success/one_success"},"children":"子节点数组（同时执行）"}
  ]
 }
 ```

-#### 3. JSON结构规范 (必须遵守)
-生成的JSON对象必须有一个名为`root`的键，其值是一个有效的行为树节点对象。每个节点都必须包含正确的字段。
- **根节点必须是控制流节点**（`Sequence`、`Selector`或`Parallel`），不能是动作（`action`）或条件（`condition`）节点。
- **动作节点和条件节点是叶子节点**，不能有`children`字段。
- 控制流节点必须有`children`字段，且其值是一个子节点数组。
- **必须包含安全监控**：所有任务行为树必须包含实时安全监控，通常通过一个与主任务并行（Parallel）的Selector节点实现，该节点监控电池电量、GPS状态等安全条件，并在条件不满足时触发紧急返航或降落。
- 每个节点必须包含：
-  - `type`: 节点类型，必须是`'action'`、`'condition'`、`'Sequence'`、`'Selector'`或`'Parallel'`
-  - `name`: 来自可用节点列表的确切名称
-  - `params`: 对象，包含所需的参数（必须符合参数范围约束）
-  - `children`: 数组（仅控制流节点需要），包含子节点对象

-**安全监控要求详解**：
-1. **必须使用Parallel节点**：根节点必须是Parallel节点，其策略必须设置为`"policy": "all_success"`，确保主任务和安全监控同时执行
-2. **必须包含安全监控Selector**：Parallel节点的子节点中必须包含一个Selector节点用于安全监控，通常命名为`"SafetyMonitor"`
-3. **必须包含电池监控**：安全监控Selector必须包含`battery_above`条件节点，监控电池电量
-4. **必须包含GPS监控**：安全监控Selector应该包含`gps_status`条件节点，监控GPS信号状态
-5. **必须包含紧急处理流程**：安全监控Selector必须包含紧急处理Sequence，在安全条件不满足时执行紧急返航和降落
+## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
+每个节点必须包含以下字段，字段名不可自定义：
+1. **`type`**：节点类型（严格匹配）  
+   - 动作节点：`"action"`  
+   - 条件节点：`"condition"`  
+   - 控制流节点：`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）  
+2. **`name`**：节点名称（必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值，如"gps_status"而非其他）  
+3. **`params`**：参数对象（严格匹配上述JSON中对应节点的`params`定义，不可加自定义参数，如`object_detected`不可加"color"，需用"description"）  
+4. **`children`**：子节点数组（仅控制流节点必含，动作/条件节点无此字段）  

-**正确示例**：
+
+## 三、根节点与安全监控固定结构（后端安全验证必含）
+根节点必须是`Parallel`，且`children`包含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不可修改：
 ```json
 {
  "root": {
@@ -263,9 +65,18 @@
      {
        "type": "Sequence",
        "name": "MainTask",
+        "params": {},
        "children": [
-          // 主任务步骤
-          {"type": "action", "name": "land", "params": {"mode": "home"}}
+          // 主任务步骤：按用户指令分解（如preflight_checks→takeoff→fly_to_waypoint→...→land）
+          // 示例步骤（需替换为用户任务）：
+          {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}},
+          {"type":"action","name":"takeoff","params":{"altitude":2.0}},
+          {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":80.0,"z":10.0}},
+          {"type":"action","name":"object_detect","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"action","name":"track_object","params":{"target_class":"person","description":"穿黑色衣服","track_time":30.0}},
+          {"type":"action","name":"strike_target","params":{"target_class":"person","description":"穿黑色衣服"}},
+          {"type":"action","name":"land","params":{"mode":"home"}}
        ]
      },
      {
@@ -273,22 +84,16 @@
        "name": "SafetyMonitor",
        "params": {"memory": true},
        "children": [
+          // 必含：电池监控（battery_above）、GPS监控（gps_status）、紧急处理（EmergencyHandler）
+          {"type":"condition","name":"battery_above","params":{"threshold":0.3}},
+          {"type":"condition","name":"gps_status","params":{"min_satellites":8}},
          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {"threshold": 0.3}
-          },
-          {
-            "type": "condition",
-            "name": "gps_status",
-            "params": {"min_satellites": 8}
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyHandler",
+            "type":"Sequence",
+            "name":"EmergencyHandler",
+            "params": {},
            "children": [
-              {"type": "action", "name": "emergency_return", "params": {"reason": "safety_breach"}},
-              {"type": "action", "name": "land", "params": {"mode": "home"}}
+              {"type":"action","name":"emergency_return","params":{"reason":"safety_breach"}},
+              {"type":"action","name":"land","params":{"mode":"home"}}
            ]
          }
        ]
@@ -298,464 +103,16 @@
 }
 ```

-**错误示例**（缺少安全监控）：
-```json
-{
-  "root": {
-    "type": "Sequence",  // 错误：根节点不是Parallel，无法同时运行安全监控
-    "name": "MainTaskOnly",
-    "children": [
-      // 只有主任务，没有安全监控
-    ]
-  }
-}
-```

-错误示例（根节点为动作节点）：
-```json
-{
-  "root": {
-    "type": "action",
-    "name": "land",
-    "children": [ ... ],  // 错误：动作节点不能有子节点
-    "params": {"mode": "home"}
-  }
-}
-```
+## 四、高频错误规避（后端验证常失败点）
+1. **禁止自定义节点**：如"lock_target"是未定义节点，必须删除，用"object_detect"+"object_detected"替代锁定逻辑。  
+2. **参数名严格匹配**：  
+   - `track_object`用`track_time`（不可用`duration`）；  
+   - `object_detected`描述目标属性用`description`（不可用`color`/`target`等）；  
+   - `gps_status`必传`min_satellites`（范围6-15，如8）。  
+3. **条件节点`object_detected`必含`target_class`**：值必须是上述JSON中`object_detect`的`target_class`列表中的值（如"person"）。  
+4. **控制流节点`name`与`type`一致**：如`type:"Sequence"`则`name:"Sequence"`，不可自定义`name`。

-##### 重要安全警告：Parallel节点使用禁忌

-**严禁**在安全监控场景中使用 `"policy": "one_success"` 的Parallel节点！
-
-错误模式（会导致任务中断）：
-```json
-{
-  "type": "Parallel",
-  "params": {"policy": "one_success"},  // 严禁这样使用！
-  "children": [
-    {"type": "Sequence", "name": "MainTask"},  // 主任务会被意外终止
-    {"type": "Selector", "name": "SafetyMonitor"}  // 监控条件成功会杀死主任务
-  ]
-}
-```
-
-#### 4. Selector节点memory参数使用规范
- **默认使用** `"memory": true`：用于任务执行和监控检查，避免不必要的任务中断。
- **仅在高优先级安全中断**时使用 `"memory": false`：如急停按钮，每个tick都检查。
- **决策流程**：
-  - Selector用于选择长时任务 → `"memory": true`
-  - Selector用于持续监控安全条件 → `"memory": true`
-  - Selector用于最高优先级安全中断 → `"memory": false`（谨慎使用）
-
-#### 5. 搜索与检测节点使用区分
- **object_detect**：用于已知位置的定点检测（无人机悬停或稳定时识别）。
- **search_pattern**：用于未知区域的移动搜索（无人机按模式飞行覆盖区域）。
- 严禁混淆使用：例如，在search_pattern后不应立即使用object_detect，除非需要进一步验证。
-
-#### 6. 参数约束检查 (必须遵守)
-在生成JSON时，你必须确保所有参数值符合物理约束：
- `altitude` (takeoff): [1, 100]
- `z` (fly_to_waypoint): [1, 5000]
- `x`, `y` (fly_to_waypoint): [-10000, 10000]
- `radius` (search_pattern): [5, 1000]
- `distance` (move_direction): [1, 10000]
- `radius` (orbit_around_point/orbit_around_target): [5, 1000]
- `laps` (orbit_around_point/orbit_around_target): [1, 20]
- `speed_mps` (orbit_around_point/orbit_around_target): [0.5, 15]
- 电池阈值: [0.0, 1.0]
- 等等其他参数范围。
-
-如果用户指令或参考知识提供坐标，必须使用这些坐标，但确保调整到约束范围内（例如，如果z<5，则设置为5.0）。
-
-#### 7. 标准任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
-```json
-{
-  "root": {
-    "type": "Parallel",
-    "name": "MissionWithSafety",
-    "params": {"policy": "all_success"},
-    "children": [
-      {
-        "type": "Sequence",
-        "name": "MainTask",
-        "children": [
-          // 主任务步骤，最后以land结束
-          {"type": "action", "name": "land", "params": {"mode": "home"}}
-        ]
-      },
-      {
-        "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
-        "children": [
-          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {"threshold": 0.3}
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyHandler",
-            "children": [
-              {"type": "action", "name": "emergency_return", "params": {"reason": "low_battery"}},
-              {"type": "action", "name": "land", "params": {"mode": "home"}}
-            ]
-          }
-        ]
-      }
-    ]
-  }
-}
-```
-
-#### 8. 打击任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
-{
-  "root": {
-    "type": "Parallel",
-    "name": "CompleteStrikeMission",
-    "params": {
-      "policy": "all_success"
-    },
-    "children": [
-      {
-        "type": "Sequence",
-        "name": "MainStrikeSequence",
-        "children": [
-          {
-            "type": "action",
-            "name": "preflight_checks",
-            "params": {
-              "check_level": "comprehensive"
-            }
-          },
-          {
-            "type": "action",
-            "name": "takeoff",
-            "params": {
-              "altitude": 2.0
-            }
-          },
-          {
-            "type": "action",
-            "name": "fly_to_waypoint",
-            "params": {
-              "x": 200.0,
-              "y": 150.0,
-              "z": 2.0,
-              "acceptance_radius": 2.0
-            }
-          },
-          {
-            "type": "Selector",
-            "name": "TargetAcquisitionSelector",
-            "params": {
-              "memory": true
-            },
-            "children": [
-              {
-                "type": "Sequence",
-                "name": "DirectDetectionSequence",
-                "children": [
-                  {
-                    "type": "action",
-                    "name": "loiter",
-                    "params": {
-                      "duration": 10.0
-                    }
-                  },
-                  {
-                    "type": "action",
-                    "name": "object_detect",
-                    "params": {
-                      "target_class": "truck",
-                      "description": "军事卡车",
-                      "count": 1
-                    }
-                  },
-                  {
-                    "type": "condition",
-                    "name": "object_detected",
-                    "params": {
-                      "target_class": "truck",
-                      "description": "军事卡车",
-                      "count": 1
-                    }
-                  }
-                ]
-              },
-              {
-                "type": "action",
-                "name": "search_pattern",
-                "params": {
-                  "pattern_type": "grid",
-                  "center_x": 200.0,
-                  "center_y": 150.0,
-                  "center_z": 2.0,
-                  "radius": 80.0,
-                  "target_class": "truck",
-                  "description": "军事卡车",
-                  "count": 1
-                }
-              }
-            ]
-          },
-          {
-            "type": "action",
-            "name": "strike_target",
-            "params": {
-              "target_class": "truck",
-              "description": "军事卡车",
-              "count": 1
-            }
-          },
-          {
-            "type": "action",
-            "name": "battle_damage_assessment",
-            "params": {
-              "target_class": "truck",
-              "assessment_time": 20.0
-            }
-          },
-          {
-            "type": "Selector",
-            "name": "DamageConfirmationSelector",
-            "params": {
-              "memory": true
-            },
-            "children": [
-              {
-                "type": "condition",
-                "name": "target_destroyed",
-                "params": {
-                  "target_class": "truck",
-                  "description": "军事卡车",
-                  "confidence": 0.8
-                }
-              },
-              {
-                "type": "Sequence",
-                "name": "ReStrikeSequence",
-                "children": [
-                  {
-                    "type": "action",
-                    "name": "strike_target",
-                    "params": {
-                      "target_class": "truck",
-                      "description": "军事卡车",
-                      "count": 1
-                    }
-                  },
-                  {
-                    "type": "action",
-                    "name": "battle_damage_assessment",
-                    "params": {
-                      "target_class": "truck",
-                      "assessment_time": 15.0
-                    }
-                  }
-                ]
-              }
-            ]
-          },
-          {
-            "type": "action",
-            "name": "land",
-            "params": {
-              "mode": "home"
-            }
-          }
-        ]
-      },
-      {
-        "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {
-          "memory": true
-        },
-        "children": [
-          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {
-              "threshold": 0.35
-            }
-          },
-          {
-            "type": "condition",
-            "name": "gps_status",
-            "params": {
-              "min_satellites": 8
-            }
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyHandler",
-            "children": [
-              {
-                "type": "action",
-                "name": "emergency_return",
-                "params": {
-                  "reason": "safety_breach"
-                }
-              },
-              {
-                "type": "action",
-                "name": "land",
-                "params": {
-                  "mode": "home"
-                }
-              }
-            ]
-          }
-        ]
-      }
-    ]
-  }
-}
-
-#### 9. 跟踪任务范式
-所有任务必须包含安全监控。使用以下范式作为模板：
-```json
-{
-  "root": {
-    "type": "Parallel",
-    "name": "TrackingMission",
-    "params": {"policy": "all_success"},
-    "children": [
-      {
-        "type": "Sequence",
-        "name": "MainTrackingTask",
-        "children": [
-          {
-            "type": "action",
-            "name": "preflight_checks",
-            "params": {"check_level": "comprehensive"}
-          },
-          {
-            "type": "action",
-            "name": "takeoff",
-            "params": {"altitude": 15.0}
-          },
-          {
-            "type": "action",
-            "name": "fly_to_waypoint",
-            "params": {
-              "x": 100.0,
-              "y": 80.0,
-              "z": 15.0,
-              "acceptance_radius": 3.0
-            }
-          },
-          {
-            "type": "Selector",
-            "name": "TargetAcquisitionSelector",
-            "params": {"memory": true},
-            "children": [
-              {
-                "type": "Sequence",
-                "name": "DirectDetectionSequence",
-                "children": [
-                  {
-                    "type": "action",
-                    "name": "loiter",
-                    "params": {"duration": 10.0}
-                  },
-                  {
-                    "type": "action",
-                    "name": "object_detect",
-                    "params": {
-                      "target_class": "car",
-                      "description": "红色轿车",
-                      "count": 1
-                    }
-                  }
-                ]
-              },
-              {
-                "type": "action",
-                "name": "search_pattern",
-                "params": {
-                  "pattern_type": "spiral",
-                  "center_x": 100.0,
-                  "center_y": 80.0,
-                  "center_z": 15.0,
-                  "radius": 50.0,
-                  "target_class": "car",
-                  "description": "红色轿车",
-                  "count": 1
-                }
-              }
-            ]
-          },
-          {
-            "type": "action",
-            "name": "track_object",
-            "params": {
-              "target_class": "car",
-              "description": "红色轿车",
-              "track_time": 120.0,
-              "min_confidence": 0.7,
-              "safe_distance": 15.0
-            }
-          },
-          {
-            "type": "action",
-            "name": "land",
-            "params": {"mode": "home"}
-          }
-        ]
-      },
-      {
-        "type": "Selector",
-        "name": "SafetyMonitor",
-        "params": {"memory": true},
-        "children": [
-          {
-            "type": "condition",
-            "name": "battery_above",
-            "params": {"threshold": 0.35}
-          },
-          {
-            "type": "condition",
-            "name": "gps_status",
-            "params": {"min_satellites": 8}
-          },
-          {
-            "type": "Sequence",
-            "name": "EmergencyHandler",
-            "children": [
-              {
-                "type": "action",
-                "name": "emergency_return",
-                "params": {"reason": "safety_breach"}
-              },
-              {
-                "type": "action",
-                "name": "land",
-                "params": {"mode": "home"}
-              }
-            ]
-          }
-        ]
-      }
-    ]
-  }
-}
-```
-
-#### 10. 如何使用参考知识
-当用户提供"参考知识"（如坐标信息）时，你必须使用这些信息填充参数。例如：
- 如果参考知识说"目标坐标: (x: 120.5, y: 80.2, z: 60.0)"，则在使用`fly_to_waypoint`时设置这些值。
- 确保坐标符合约束（如z≥1）。
-
-环绕口令到参数的映射规则（当口令涉及“环绕/绕圈”等）：
- “环绕XY圈” → `radius=X`, `laps=Y`，默认 `clockwise=true`, `gimbal_lock=true`，比如环绕三十两圈，意思就是以目标点为圆心，30米为半径绕2圈
- 明确“顺时针/逆时针”时 → 设置 `clockwise=true/false`
- 出现“等速”时 → 若未给速度则 `speed_mps` 使用默认值（如3.0）；若口令给出速度，裁剪到[0.5,15]
- “以(中心坐标)为中心/当前位置为中心” → 使用 `orbit_around_point` 并填写 `center_x/center_y/center_z`
- “以目标为中心/围绕目标” → 使用 `orbit_around_target`；若任务未提供目标来源，则需要在主任务中先行确认目标（通过检测/跟踪或参考知识）
-
-#### 11. 输出要求
-你的输出必须是严格的、单一的JSON对象，符合上述所有规则。不包含任何自然语言描述。
+## 五、输出要求
+仅输出1个严格符合上述所有规则的JSON对象，**确保后端能解析到所有节点（尤其是conditions中的gps_status），且无任何冗余内容**。
--- a/tools/test_api.py
+++ b/tools/test_api.py
@@ -12,7 +12,7 @@ BASE_URL = "http://127.0.0.1:8000"
 ENDPOINT = "/generate_plan"

 # The user prompt we will send for the test
-TEST_PROMPT = "起飞"
+TEST_PROMPT = "无人机起飞后移动到学生宿舍投放救援物资"

 def test_generate_plan():
    """
--- a/tools/test_validate/test_run_20251011_175309/api_test_log.txt
+++ b/tools/test_validate/test_run_20251011_175309/api_test_log.txt
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_10_b99d8d9a-84e6-474c-a512-61f8e74945e8.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_10_b99d8d9a-84e6-474c-a512-61f8e74945e8.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "b99d8d9a-84e6-474c-a512-61f8e74945e8",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_10_b99d8d9a-84e6-474c-a512-61f8e74945e8.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_10_b99d8d9a-84e6-474c-a512-61f8e74945e8.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_1_c74dd92d-450c-4a95-80eb-84441812b7e5.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_1_c74dd92d-450c-4a95-80eb-84441812b7e5.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c74dd92d-450c-4a95-80eb-84441812b7e5",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_1_c74dd92d-450c-4a95-80eb-84441812b7e5.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_1_c74dd92d-450c-4a95-80eb-84441812b7e5.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_2_c9a68f7d-e8c0-4446-8fcf-e5a9325827b6.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_2_c9a68f7d-e8c0-4446-8fcf-e5a9325827b6.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c9a68f7d-e8c0-4446-8fcf-e5a9325827b6",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_2_c9a68f7d-e8c0-4446-8fcf-e5a9325827b6.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_2_c9a68f7d-e8c0-4446-8fcf-e5a9325827b6.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_3_9e34b939-8410-4aec-a9bb-2261e6a21c48.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_3_9e34b939-8410-4aec-a9bb-2261e6a21c48.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "9e34b939-8410-4aec-a9bb-2261e6a21c48",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_3_9e34b939-8410-4aec-a9bb-2261e6a21c48.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_3_9e34b939-8410-4aec-a9bb-2261e6a21c48.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_4_09c44e51-9323-4072-9cb4-61c623d49f76.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_4_09c44e51-9323-4072-9cb4-61c623d49f76.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "09c44e51-9323-4072-9cb4-61c623d49f76",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_4_09c44e51-9323-4072-9cb4-61c623d49f76.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_4_09c44e51-9323-4072-9cb4-61c623d49f76.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_5_5110f6fe-778d-4191-b321-f1a8c6de9877.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_5_5110f6fe-778d-4191-b321-f1a8c6de9877.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "5110f6fe-778d-4191-b321-f1a8c6de9877",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_5_5110f6fe-778d-4191-b321-f1a8c6de9877.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_5_5110f6fe-778d-4191-b321-f1a8c6de9877.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_6_51bb856d-4804-48fc-9a72-564c4c2f13ba.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_6_51bb856d-4804-48fc-9a72-564c4c2f13ba.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "51bb856d-4804-48fc-9a72-564c4c2f13ba",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_6_51bb856d-4804-48fc-9a72-564c4c2f13ba.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_6_51bb856d-4804-48fc-9a72-564c4c2f13ba.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_7_61fe6be0-5252-45f1-9b89-bf23387a9ada.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_7_61fe6be0-5252-45f1-9b89-bf23387a9ada.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "61fe6be0-5252-45f1-9b89-bf23387a9ada",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_7_61fe6be0-5252-45f1-9b89-bf23387a9ada.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_7_61fe6be0-5252-45f1-9b89-bf23387a9ada.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_8_2fdeb41f-99da-4055-adab-ea795def40d6.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_8_2fdeb41f-99da-4055-adab-ea795def40d6.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "2fdeb41f-99da-4055-adab-ea795def40d6",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_8_2fdeb41f-99da-4055-adab-ea795def40d6.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_8_2fdeb41f-99da-4055-adab-ea795def40d6.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_9_6259d34d-4ac3-4a45-a683-e36cd219fe8e.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_9_6259d34d-4ac3-4a45-a683-e36cd219fe8e.json
@@ -0,0 +1,93 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "current"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.3
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "6259d34d-4ac3-4a45-a683-e36cd219fe8e",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_1/run_9_6259d34d-4ac3-4a45-a683-e36cd219fe8e.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_1/run_9_6259d34d-4ac3-4a45-a683-e36cd219fe8e.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_10_96546010-2887-463b-96aa-e9a4237944f2.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_10_96546010-2887-463b-96aa-e9a4237944f2.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "96546010-2887-463b-96aa-e9a4237944f2",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_10_96546010-2887-463b-96aa-e9a4237944f2.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_10_96546010-2887-463b-96aa-e9a4237944f2.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_1_92d92c59-b3cd-47d0-9371-967d6086dc11.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_1_92d92c59-b3cd-47d0-9371-967d6086dc11.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "92d92c59-b3cd-47d0-9371-967d6086dc11",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_1_92d92c59-b3cd-47d0-9371-967d6086dc11.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_1_92d92c59-b3cd-47d0-9371-967d6086dc11.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_2_a2f5a53d-c90d-4cd8-9a28-22399aab3b05.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_2_a2f5a53d-c90d-4cd8-9a28-22399aab3b05.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "a2f5a53d-c90d-4cd8-9a28-22399aab3b05",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_2_a2f5a53d-c90d-4cd8-9a28-22399aab3b05.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_2_a2f5a53d-c90d-4cd8-9a28-22399aab3b05.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_3_12f71128-f676-443f-89bc-8f0b5e16e9cd.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_3_12f71128-f676-443f-89bc-8f0b5e16e9cd.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "12f71128-f676-443f-89bc-8f0b5e16e9cd",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_3_12f71128-f676-443f-89bc-8f0b5e16e9cd.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_3_12f71128-f676-443f-89bc-8f0b5e16e9cd.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_4_4c0c5cb7-5438-444f-9278-741fd65d370a.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_4_4c0c5cb7-5438-444f-9278-741fd65d370a.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "4c0c5cb7-5438-444f-9278-741fd65d370a",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_4_4c0c5cb7-5438-444f-9278-741fd65d370a.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_4_4c0c5cb7-5438-444f-9278-741fd65d370a.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_5_65d91ac8-2526-4447-b5f6-113c8033f956.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_5_65d91ac8-2526-4447-b5f6-113c8033f956.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "65d91ac8-2526-4447-b5f6-113c8033f956",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_5_65d91ac8-2526-4447-b5f6-113c8033f956.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_5_65d91ac8-2526-4447-b5f6-113c8033f956.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_6_46a40452-9535-49aa-8eb9-e8ef77cfb0a1.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_6_46a40452-9535-49aa-8eb9-e8ef77cfb0a1.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "46a40452-9535-49aa-8eb9-e8ef77cfb0a1",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_6_46a40452-9535-49aa-8eb9-e8ef77cfb0a1.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_6_46a40452-9535-49aa-8eb9-e8ef77cfb0a1.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_7_aa95931b-6e05-4cd9-aadc-33405bef45a9.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_7_aa95931b-6e05-4cd9-aadc-33405bef45a9.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "aa95931b-6e05-4cd9-aadc-33405bef45a9",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_7_aa95931b-6e05-4cd9-aadc-33405bef45a9.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_7_aa95931b-6e05-4cd9-aadc-33405bef45a9.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_8_2bd7d8df-bfcd-487b-a313-645373b450d5.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_8_2bd7d8df-bfcd-487b-a313-645373b450d5.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "2bd7d8df-bfcd-487b-a313-645373b450d5",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_8_2bd7d8df-bfcd-487b-a313-645373b450d5.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_8_2bd7d8df-bfcd-487b-a313-645373b450d5.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_9_9eeccc4a-ab3b-469f-8aa5-ce9c5c921190.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_9_9eeccc4a-ab3b-469f-8aa5-ce9c5c921190.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "9eeccc4a-ab3b-469f-8aa5-ce9c5c921190",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_2/run_9_9eeccc4a-ab3b-469f-8aa5-ce9c5c921190.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_2/run_9_9eeccc4a-ab3b-469f-8aa5-ce9c5c921190.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_10_3b541f31-120d-4283-86c1-6a98cd6bf4a6.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_10_3b541f31-120d-4283-86c1-6a98cd6bf4a6.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "3b541f31-120d-4283-86c1-6a98cd6bf4a6",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_10_3b541f31-120d-4283-86c1-6a98cd6bf4a6.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_10_3b541f31-120d-4283-86c1-6a98cd6bf4a6.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_1_5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_1_5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_1_5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_1_5b81b00f-fd8d-4e7b-97e5-5ad5f25b8199.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_2_26cdb6ce-bb70-4a58-92c6-19470551a931.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_2_26cdb6ce-bb70-4a58-92c6-19470551a931.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "26cdb6ce-bb70-4a58-92c6-19470551a931",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_2_26cdb6ce-bb70-4a58-92c6-19470551a931.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_2_26cdb6ce-bb70-4a58-92c6-19470551a931.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_3_6703241e-5367-42e9-bbcf-8518f7a7982f.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_3_6703241e-5367-42e9-bbcf-8518f7a7982f.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "6703241e-5367-42e9-bbcf-8518f7a7982f",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_3_6703241e-5367-42e9-bbcf-8518f7a7982f.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_3_6703241e-5367-42e9-bbcf-8518f7a7982f.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_4_71c89dc5-5e3b-46d5-9c0b-59535d5c12b2.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_4_71c89dc5-5e3b-46d5-9c0b-59535d5c12b2.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "71c89dc5-5e3b-46d5-9c0b-59535d5c12b2",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_4_71c89dc5-5e3b-46d5-9c0b-59535d5c12b2.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_4_71c89dc5-5e3b-46d5-9c0b-59535d5c12b2.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_5_1142491e-1a37-4a09-a64d-ed5773cea09e.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_5_1142491e-1a37-4a09-a64d-ed5773cea09e.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "1142491e-1a37-4a09-a64d-ed5773cea09e",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_5_1142491e-1a37-4a09-a64d-ed5773cea09e.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_5_1142491e-1a37-4a09-a64d-ed5773cea09e.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_6_35ff42a3-2871-4b6e-820d-69a2b05411f6.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_6_35ff42a3-2871-4b6e-820d-69a2b05411f6.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "35ff42a3-2871-4b6e-820d-69a2b05411f6",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_6_35ff42a3-2871-4b6e-820d-69a2b05411f6.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_6_35ff42a3-2871-4b6e-820d-69a2b05411f6.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_7_a836fb2c-74b1-4451-94a7-83ea9dc04fc5.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_7_a836fb2c-74b1-4451-94a7-83ea9dc04fc5.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "a836fb2c-74b1-4451-94a7-83ea9dc04fc5",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_7_a836fb2c-74b1-4451-94a7-83ea9dc04fc5.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_7_a836fb2c-74b1-4451-94a7-83ea9dc04fc5.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_8_d716a58c-8cb1-4792-98a1-c2a44d86ba72.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_8_d716a58c-8cb1-4792-98a1-c2a44d86ba72.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "d716a58c-8cb1-4792-98a1-c2a44d86ba72",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_8_d716a58c-8cb1-4792-98a1-c2a44d86ba72.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_8_d716a58c-8cb1-4792-98a1-c2a44d86ba72.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_9_cbb57237-e84d-4de8-bba1-a1f7a7dd8538.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_9_cbb57237-e84d-4de8-bba1-a1f7a7dd8538.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "cbb57237-e84d-4de8-bba1-a1f7a7dd8538",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_3/run_9_cbb57237-e84d-4de8-bba1-a1f7a7dd8538.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_3/run_9_cbb57237-e84d-4de8-bba1-a1f7a7dd8538.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_10_619957a5-92b3-4f1f-b556-7d744aee247f.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_10_619957a5-92b3-4f1f-b556-7d744aee247f.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "619957a5-92b3-4f1f-b556-7d744aee247f",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_10_619957a5-92b3-4f1f-b556-7d744aee247f.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_10_619957a5-92b3-4f1f-b556-7d744aee247f.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_1_7d1394a0-595f-4745-8c05-7c27bbe6a893.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_1_7d1394a0-595f-4745-8c05-7c27bbe6a893.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "7d1394a0-595f-4745-8c05-7c27bbe6a893",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_1_7d1394a0-595f-4745-8c05-7c27bbe6a893.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_1_7d1394a0-595f-4745-8c05-7c27bbe6a893.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_2_172d07ff-4746-48e0-a47c-ce721dbfd9da.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_2_172d07ff-4746-48e0-a47c-ce721dbfd9da.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "172d07ff-4746-48e0-a47c-ce721dbfd9da",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_2_172d07ff-4746-48e0-a47c-ce721dbfd9da.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_2_172d07ff-4746-48e0-a47c-ce721dbfd9da.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_3_15364c4e-badb-4cf0-ad55-9507b3f42ca6.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_3_15364c4e-badb-4cf0-ad55-9507b3f42ca6.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "15364c4e-badb-4cf0-ad55-9507b3f42ca6",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_3_15364c4e-badb-4cf0-ad55-9507b3f42ca6.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_3_15364c4e-badb-4cf0-ad55-9507b3f42ca6.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_4_ba86bac9-b1c9-4ea8-a255-f0589b776622.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_4_ba86bac9-b1c9-4ea8-a255-f0589b776622.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "ba86bac9-b1c9-4ea8-a255-f0589b776622",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_4_ba86bac9-b1c9-4ea8-a255-f0589b776622.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_4_ba86bac9-b1c9-4ea8-a255-f0589b776622.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_5_3518e34d-d5ab-4750-98e3-4aa5272b4617.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_5_3518e34d-d5ab-4750-98e3-4aa5272b4617.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "3518e34d-d5ab-4750-98e3-4aa5272b4617",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_5_3518e34d-d5ab-4750-98e3-4aa5272b4617.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_5_3518e34d-d5ab-4750-98e3-4aa5272b4617.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_6_410d15c8-a536-4ecc-a0e1-e0f8b0299285.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_6_410d15c8-a536-4ecc-a0e1-e0f8b0299285.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "410d15c8-a536-4ecc-a0e1-e0f8b0299285",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_6_410d15c8-a536-4ecc-a0e1-e0f8b0299285.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_6_410d15c8-a536-4ecc-a0e1-e0f8b0299285.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_7_c3f8c7f7-85d7-4be3-8c41-10731cae7d35.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_7_c3f8c7f7-85d7-4be3-8c41-10731cae7d35.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c3f8c7f7-85d7-4be3-8c41-10731cae7d35",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_7_c3f8c7f7-85d7-4be3-8c41-10731cae7d35.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_7_c3f8c7f7-85d7-4be3-8c41-10731cae7d35.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_8_c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_8_c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_8_c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_8_c4c5e35b-f1d1-4b0a-8b3a-c664322a6ffc.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_9_a486685e-679c-4a63-8582-192ea188e03a.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_9_a486685e-679c-4a63-8582-192ea188e03a.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "a486685e-679c-4a63-8582-192ea188e03a",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_4/run_9_a486685e-679c-4a63-8582-192ea188e03a.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_4/run_9_a486685e-679c-4a63-8582-192ea188e03a.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_10_776b10d3-2c2f-45d5-89df-8984ee0d4f1c.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_10_776b10d3-2c2f-45d5-89df-8984ee0d4f1c.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "776b10d3-2c2f-45d5-89df-8984ee0d4f1c",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_10_776b10d3-2c2f-45d5-89df-8984ee0d4f1c.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_10_776b10d3-2c2f-45d5-89df-8984ee0d4f1c.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_1_10d9fbf4-e712-4556-9417-acb5bcb32580.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_1_10d9fbf4-e712-4556-9417-acb5bcb32580.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "10d9fbf4-e712-4556-9417-acb5bcb32580",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_1_10d9fbf4-e712-4556-9417-acb5bcb32580.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_1_10d9fbf4-e712-4556-9417-acb5bcb32580.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_2_99820c0c-f8db-4880-9520-1b3fb86e0527.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_2_99820c0c-f8db-4880-9520-1b3fb86e0527.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "99820c0c-f8db-4880-9520-1b3fb86e0527",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_2_99820c0c-f8db-4880-9520-1b3fb86e0527.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_2_99820c0c-f8db-4880-9520-1b3fb86e0527.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_3_156bdcef-d545-4c82-9237-d3016cb42eb2.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_3_156bdcef-d545-4c82-9237-d3016cb42eb2.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "156bdcef-d545-4c82-9237-d3016cb42eb2",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_3_156bdcef-d545-4c82-9237-d3016cb42eb2.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_3_156bdcef-d545-4c82-9237-d3016cb42eb2.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_4_45867aa4-300a-4a3a-97fc-cfbd2dd5f372.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_4_45867aa4-300a-4a3a-97fc-cfbd2dd5f372.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "45867aa4-300a-4a3a-97fc-cfbd2dd5f372",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_4_45867aa4-300a-4a3a-97fc-cfbd2dd5f372.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_4_45867aa4-300a-4a3a-97fc-cfbd2dd5f372.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_5_eca0d3a0-527e-487f-91e8-b047fec0bcfb.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_5_eca0d3a0-527e-487f-91e8-b047fec0bcfb.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "SearchForBlueCar",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainSearchSequence",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "eca0d3a0-527e-487f-91e8-b047fec0bcfb",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_5_eca0d3a0-527e-487f-91e8-b047fec0bcfb.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_5_eca0d3a0-527e-487f-91e8-b047fec0bcfb.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_6_c36664d0-5a9d-4f95-b9ea-55e0f082861a.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_6_c36664d0-5a9d-4f95-b9ea-55e0f082861a.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "c36664d0-5a9d-4f95-b9ea-55e0f082861a",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_6_c36664d0-5a9d-4f95-b9ea-55e0f082861a.png
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_6_c36664d0-5a9d-4f95-b9ea-55e0f082861a.png
--- a/tools/test_validate/test_run_20251011_175309/instruction_5/run_7_87d1eccf-f838-4970-8c7f-a3319997bf0e.json
+++ b/tools/test_validate/test_run_20251011_175309/instruction_5/run_7_87d1eccf-f838-4970-8c7f-a3319997bf0e.json
@@ -0,0 +1,138 @@
+{
+    "root": {
+        "type": "Parallel",
+        "name": "MissionWithSafety",
+        "params": {
+            "policy": "all_success"
+        },
+        "children": [
+            {
+                "type": "Sequence",
+                "name": "MainTask",
+                "children": [
+                    {
+                        "type": "action",
+                        "name": "preflight_checks",
+                        "params": {
+                            "check_level": "comprehensive"
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "takeoff",
+                        "params": {
+                            "altitude": 2.0
+                        }
+                    },
+                    {
+                        "type": "action",
+                        "name": "fly_to_waypoint",
+                        "params": {
+                            "x": 5.0,
+                            "y": 3.0,
+                            "z": 2.0,
+                            "acceptance_radius": 2.0
+                        }
+                    },
+                    {
+                        "type": "Selector",
+                        "name": "TargetAcquisitionSelector",
+                        "params": {
+                            "memory": true
+                        },
+                        "children": [
+                            {
+                                "type": "Sequence",
+                                "name": "DirectDetectionSequence",
+                                "children": [
+                                    {
+                                        "type": "action",
+                                        "name": "loiter",
+                                        "params": {
+                                            "duration": 10.0
+                                        }
+                                    },
+                                    {
+                                        "type": "action",
+                                        "name": "object_detect",
+                                        "params": {
+                                            "target_class": "car",
+                                            "description": "蓝色的车",
+                                            "count": 1
+                                        }
+                                    }
+                                ]
+                            },
+                            {
+                                "type": "action",
+                                "name": "search_pattern",
+                                "params": {
+                                    "pattern_type": "grid",
+                                    "center_x": 5.0,
+                                    "center_y": 3.0,
+                                    "center_z": 2.0,
+                                    "radius": 80.0,
+                                    "target_class": "car",
+                                    "description": "蓝色的车",
+                                    "count": 1
+                                }
+                            }
+                        ]
+                    },
+                    {
+                        "type": "action",
+                        "name": "land",
+                        "params": {
+                            "mode": "home"
+                        }
+                    }
+                ]
+            },
+            {
+                "type": "Selector",
+                "name": "SafetyMonitor",
+                "params": {
+                    "memory": true
+                },
+                "children": [
+                    {
+                        "type": "condition",
+                        "name": "battery_above",
+                        "params": {
+                            "threshold": 0.35
+                        }
+                    },
+                    {
+                        "type": "condition",
+                        "name": "gps_status",
+                        "params": {
+                            "min_satellites": 8
+                        }
+                    },
+                    {
+                        "type": "Sequence",
+                        "name": "EmergencyHandler",
+                        "children": [
+                            {
+                                "type": "action",
+                                "name": "emergency_return",
+                                "params": {
+                                    "reason": "safety_breach"
+                                }
+                            },
+                            {
+                                "type": "action",
+                                "name": "land",
+                                "params": {
+                                    "mode": "home"
+                                }
+                            }
+                        ]
+                    }
+                ]
+            }
+        ]
+    },
+    "plan_id": "87d1eccf-f838-4970-8c7f-a3319997bf0e",
+    "visualization_url": "/static/py_tree.png"
+}
--- a/Show More
+++ b/Show More