From dd066057b09374bbd439947aaed0e0be5fdbbfcc Mon Sep 17 00:00:00 2001 From: huangfu <3045324663@qq.com> Date: Tue, 27 Jan 2026 16:38:06 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=9C=BA=E6=99=AF4=E7=A4=BA?= =?UTF-8?q?=E4=BE=8B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/__pycache__/__init__.cpython-313.pyc | Bin 158 -> 150 bytes .../src/__pycache__/main.cpython-313.pyc | Bin 4165 -> 4157 bytes .../src/__pycache__/models.cpython-313.pyc | Bin 1055 -> 1047 bytes .../py_tree_generator.cpython-313.pyc | Bin 49061 -> 49080 bytes .../websocket_manager.cpython-313.pyc | Bin 3227 -> 3219 bytes .../src/prompts/classifier_prompt.txt | 2 +- .../src/prompts/simple_mode_prompt.txt | 2 +- backend_service/src/prompts/system_prompt.txt | 492 +++++++++++++++++- backend_service/src/py_tree_generator.py | 4 +- .../__pycache__/__init__.cpython-313.pyc | Bin 200 -> 192 bytes .../coordinate_tools.cpython-313.pyc | Bin 1823 -> 1815 bytes 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a/backend_service/src/prompts/classifier_prompt.txt +++ b/backend_service/src/prompts/classifier_prompt.txt @@ -18,7 +18,7 @@ {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}}, {"name":"land","params":{"mode":"'current'/'home'"}}, {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}}, - {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","speed":"float,可选"}}, + {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}}, {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}}, {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}}, {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}}, diff --git a/backend_service/src/prompts/simple_mode_prompt.txt b/backend_service/src/prompts/simple_mode_prompt.txt index 4ffef9a2..27b7243d 100644 --- a/backend_service/src/prompts/simple_mode_prompt.txt +++ b/backend_service/src/prompts/simple_mode_prompt.txt @@ -18,7 +18,7 @@ {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}}, {"name":"land","params":{"mode":"'current'/'home'"}}, {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}}, - {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东北天坐标系）","speed":"float,可选"}}, + {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}}, {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right/up/down","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}}, {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}}, {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}}, diff --git a/backend_service/src/prompts/system_prompt.txt b/backend_service/src/prompts/system_prompt.txt index 01b71831..fe9aebbd 100644 --- a/backend_service/src/prompts/system_prompt.txt +++ b/backend_service/src/prompts/system_prompt.txt @@ -9,7 +9,7 @@ {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}}, {"name":"land","params":{"mode":"'current'/'home'"}}, {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0","desc":"仅当指令提及具体地点（如'去广场'、'去大门'）或需计算明确坐标时使用"}}, - {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'z':5}, ...])","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}}, + {"name":"fly_sequence","params":{"waypoints":"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)","coordinate_frame":"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）","speed":"float,可选"}}, {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省则持续移动","speed":"float,可选","desc":"当指令仅包含'往东/西...飞xx米'且无具体地点名词时，必须使用此节点"}}, {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}}, {"name":"rotate","params":{"angle":"float,无人机自身旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}}, @@ -278,6 +278,496 @@ } ``` +#### 场景 7：空中上升后沿建筑外围侦察（Sequence + Selector） +**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有人，看到了就拍照传回来。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在空中，无需自检与起飞。先向上移动3米（仅方向+距离，使用`move_direction`）。随后“边飞边判断”：用`Parallel`并行执行`fly_sequence`与持续检测分支。检测分支使用`object_detect` + `object_detected` + `take_photos`，再用`SuccessIsFailure`保证不会提前结束并行；并行策略为`success_on_one`，当巡查飞行完成即结束任务。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "RiseAndPatrolPerimeter", + "children": [ + { + "type": "action", + "name": "move_direction", + "params": { + "direction": "up", + "distance": 3.0 + } + }, + { + "type": "Parallel", + "name": "PatrolAndDetect", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8}, + {"x": -108.5, "y": 241.8}, + {"x": -108.5, "y": 289.8}, + {"x": -24.0, "y": 292.8}, + {"x": -24.0, "y": 241.8} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectAndPhotoWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"person","description":"建筑外围人员"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"建筑外围人员"}}, + {"type":"action","name":"take_photos","params":{"target_class":"person","description":"建筑外围人员","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 8：地面起飞到楼前12米高度并沿外围查找杂物（Sequence） +**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有的杂物堆积并拍照。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在地面，需自检后起飞。指令是到具体地点且明确高度，使用`fly_sequence`沿外围巡查，所有航点设置为12米高度（`depth`=12）。为满足“边飞边判断”，使用`Parallel`并行飞行与检测，检测分支持续执行`object_detect` + `object_detected` + `take_photos`，用`SuccessIsFailure`避免提前结束。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "FlyPerimeterAndPhotoGarbage", + "children": [ + {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}, + {"type":"action","name":"takeoff","params":{"altitude":10.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectGarbage", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 289.8, "depth": 12.0}, + {"x": -24.0, "y": 292.8, "depth": 12.0}, + {"x": -24.0, "y": 241.8, "depth": 12.0} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectGarbageWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}}, + {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 9：地面到12米绕外围查看打开的窗户（Sequence） +**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有打开的窗户，发现则进行拍照。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在地面，先自检起飞。随后使用`fly_sequence`沿外围绕飞，航点高度为12米（`depth`=12）。同时并行执行检测分支，发现打开窗户就拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "FlyPerimeterAndPhotoWindows", + "children": [ + {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}, + {"type":"action","name":"takeoff","params":{"altitude":10.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectWindows", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 289.8, "depth": 12.0}, + {"x": -24.0, "y": 292.8, "depth": 12.0}, + {"x": -24.0, "y": 241.8, "depth": 12.0} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectOpenWindowsWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}}, + {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 10：地面到12米沿外围查找打开的窗户（Sequence） +**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围查找所有打开的窗户并拍照。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在地面，起飞后使用`fly_sequence`沿外围巡查（`depth`=12），并行持续检测打开的窗户并拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "FlyPerimeterAndPhotoOpenWindows", + "children": [ + {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}, + {"type":"action","name":"takeoff","params":{"altitude":10.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectOpenWindows", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 289.8, "depth": 12.0}, + {"x": -24.0, "y": 292.8, "depth": 12.0}, + {"x": -24.0, "y": 241.8, "depth": 12.0} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectAllOpenWindowsWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}}, + {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 11：空中上升后绕外围侦察打开窗户（Sequence） +**指令**：“无人机当前在空中，再往上飞3米，接着绕这栋楼外围侦察有没有打开的窗户，看到了就拍照传回来。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在空中，先上升3米。随后并行执行绕飞巡查与检测，发现打开窗户立即拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "RiseAndDetectOpenWindows", + "children": [ + {"type":"action","name":"move_direction","params":{"direction":"up","distance":3.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectOpenWindows", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8}, + {"x": -108.5, "y": 241.8}, + {"x": -108.5, "y": 289.8}, + {"x": -24.0, "y": 292.8}, + {"x": -24.0, "y": 241.8} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectOpenWindowsWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"window","description":"打开的窗户"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"window","description":"打开的窗户"}}, + {"type":"action","name":"take_photos","params":{"target_class":"window","description":"打开的窗户","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 12：地面到12米绕外围巡视杂物堆积（Sequence） +**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围巡视杂物堆积现象，发现则进行拍照。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测杂物堆积并拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "FlyPerimeterAndPhotoGarbageObserve", + "children": [ + {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}, + {"type":"action","name":"takeoff","params":{"altitude":10.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectGarbageObserve", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 289.8, "depth": 12.0}, + {"x": -24.0, "y": 292.8, "depth": 12.0}, + {"x": -24.0, "y": 241.8, "depth": 12.0} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectGarbageWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}}, + {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 13：空中下降后绕外围侦察杂物堆积（Sequence） +**指令**：“无人机当前在空中，往下飞3米，接着绕这栋楼外围侦察有没有杂物堆积，看到了就拍照传回来。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在空中，先下降3米。随后并行执行绕飞巡查与检测，发现杂物堆积立即拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "DescendAndDetectGarbage", + "children": [ + {"type":"action","name":"move_direction","params":{"direction":"down","distance":3.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectGarbage", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8}, + {"x": -108.5, "y": 241.8}, + {"x": -108.5, "y": 289.8}, + {"x": -24.0, "y": 292.8}, + {"x": -24.0, "y": 241.8} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectGarbageWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"garbage","description":"杂物堆积"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"garbage","description":"杂物堆积"}}, + {"type":"action","name":"take_photos","params":{"target_class":"garbage","description":"杂物堆积","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 14：地面到12米绕外围查看是否有人（Sequence） +**指令**：“无人机当前在地面，去面前大楼的12米高处，绕着外围看有没有人，发现则进行拍照。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在地面，起飞后沿外围绕飞（`depth`=12），并行检测人员并拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "FlyPerimeterAndPhotoPerson", + "children": [ + {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}, + {"type":"action","name":"takeoff","params":{"altitude":10.0}}, + { + "type": "Parallel", + "name": "PatrolAndDetectPerson", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 241.8, "depth": 12.0}, + {"x": -108.5, "y": 289.8, "depth": 12.0}, + {"x": -24.0, "y": 292.8, "depth": 12.0}, + {"x": -24.0, "y": 241.8, "depth": 12.0} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectPersonWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}}, + {"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + +#### 场景 15：地面到12米沿外围逆时针查找人员（Sequence） +**指令**：“无人机当前在地面，去面前大楼的12米高处，沿着外围逆时针查找所有的人并拍照。” +**参考信息**：面前的大楼外围四个点东南天坐标系坐标：A(-24.00, 241.80),B(-108.50, 241.80),C(-108.50, 289.80),D(-24.00, 292.80)。 +**思路**：无人机在地面，起飞后按逆时针顺序巡查外围（示例航点顺序：A→D→C→B→A），并行检测人员与拍照。 +**结构**：Sequence +```json +{ + "root": { + "type": "Sequence", + "name": "FlyPerimeterCounterClockwiseAndPhotoPerson", + "children": [ + {"type":"action","name":"system_checks","params":{"check_level":"comprehensive"}}, + {"type":"action","name":"takeoff","params":{"altitude":10.0}}, + { + "type": "Parallel", + "name": "PatrolCCWAndDetectPerson", + "params": { + "policy": "success_on_one" + }, + "children": [ + { + "type": "action", + "name": "fly_sequence", + "params": { + "waypoints": [ + {"x": -24.0, "y": 241.8, "depth": 12.0}, + {"x": -24.0, "y": 292.8, "depth": 12.0}, + {"x": -108.5, "y": 289.8, "depth": 12.0}, + {"x": -108.5, "y": 241.8, "depth": 12.0}, + {"x": -24.0, "y": 241.8, "depth": 12.0} + ], + "coordinate_frame": "local_enu" + } + }, + { + "type": "decorator", + "name": "SuccessIsFailure", + "child": { + "type": "Sequence", + "name": "DetectPersonWhileFlying", + "children": [ + {"type":"action","name":"object_detect","params":{"target_class":"person","description":"人员"}}, + {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"人员"}}, + {"type":"action","name":"take_photos","params":{"target_class":"person","description":"人员","track_time":10.0}} + ] + } + } + ] + } + ] + } +} +``` + ## 六、高频错误规避 1. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"` 2. **人工确认节点 (`manual_confirmation`) 使用原则**： diff --git a/backend_service/src/py_tree_generator.py b/backend_service/src/py_tree_generator.py index 6d11a937..5b2c147c 100644 --- a/backend_service/src/py_tree_generator.py +++ b/backend_service/src/py_tree_generator.py @@ -304,9 +304,9 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di "properties": { "x": {"type": "number"}, "y": {"type": "number"}, - "z": {"type": "number"} + "depth": {"type": "number"} }, - "required": ["x", "y", "z"] + "required": ["x", "y"] }, "minItems": 1 }, diff --git a/backend_service/src/tools/__pycache__/__init__.cpython-313.pyc b/backend_service/src/tools/__pycache__/__init__.cpython-313.pyc index f75f01da9ae193c54d9b038dac317d01a4c07c3d..cf655a6948c45874520562541fbce791b7650655 100644 GIT binary patch delta 30 kcmX@Xcz}`XGcPX}0}xF9I*}`s!&*NhKQ~oBabkWX0ENT}C;$Ke delta 38 scmX@Wc!H7ZGcPX}0}$x4Oymj`aMsVr&rQ|OC{4^uPb