更新vllm后端的使用方法

增加区域坐标
增加简单模式root键
2025-10-13 11:54:02 +08:00 · 2025-09-27 14:11:59 +08:00 · 2025-09-25 21:57:32 +08:00
119 changed files with 7994 additions and 1136 deletions
--- a/README.md
+++ b/README.md
@@ -19,7 +19,6 @@
 │   │   │   └── classifier_prompt.txt     # 指令简单/复杂分类提示词
 │   │   ├── ...
 │   ├── generated_visualizations/ # 存放最新生成的py_tree可视化图像
-│   ├── generated_reasoning_content/ # 存放最新推理链Markdown（<plan_id>.md）
 │   └── requirements.txt          # 后端服务的Python依赖
 │
 ├── tools/
@@ -27,8 +26,7 @@
 │   ├── knowledge_base/           # 【处理后】存放build_knowledge_base.py生成的.ndjson文件
 │   ├── vector_store/             # 【数据库】存放最终的ChromaDB向量数据库
 │   ├── build_knowledge_base.py   # 【步骤1】用于将原始数据转换为自然语言知识
-│   ├── ingest.py                 # 【步骤2】用于将自然语言知识摄入向量数据库
-│   └── test_llama_server.py      # 直接调用本地8081端口llama-server，支持 --system / --system-file
+│   └── ingest.py                 # 【步骤2】用于将自然语言知识摄入向量数据库
 │
 ├── /             # ROS2接口定义 (保持不变)
 └── docs/
@@ -63,6 +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**

@@ -97,10 +107,6 @@

 通用API Key：`OPENAI_API_KEY`

-推理链捕获相关：
- `ENABLE_REASONING_CAPTURE`：是否允许模型返回含有 <think> 的原文以便捕获推理链；默认 true。
- `REASONING_PREVIEW_LINES`：在后端日志中打印推理链预览的行数；默认 20。
-
 示例：
 ```bash
 export CLASSIFIER_MODEL="qwen2.5-1.8b-instruct"
@@ -110,10 +116,6 @@ export CLASSIFIER_BASE_URL="http://$ORIN_IP:8081/v1"
 export SIMPLE_BASE_URL="http://$ORIN_IP:8081/v1"
 export COMPLEX_BASE_URL="http://$ORIN_IP:8081/v1"
 export OPENAI_API_KEY="sk-no-key-required"
-
-# 推理链捕获（可选）
-export ENABLE_REASONING_CAPTURE=true        # 默认已为true；如需关闭，设置为 false
-export REASONING_PREVIEW_LINES=30          # 调整日志预览行数
 ```

 ### 测试简单模式
@@ -127,22 +129,6 @@ python test_api.py

 示例输入：“简单模式，起飞” 或 “起飞到10米”。返回结果为简单JSON（无 `root`）：包含 `mode`、`action`、`plan_id`、`visualization_url`。

-### 直接调用 llama-server（绕过后端）
-
-当仅需测试本地 8081 端口的推理服务（OpenAI 兼容接口）时，可使用内置脚本：
-
-```bash
-python tools/test_llama_server.py \
-  --system-file backend_service/src/prompts/system_prompt.txt \
-  --user "起飞到10米然后降落" \
-  --base-url "http://127.0.0.1:8081/v1" \
-  --verbose
-```
-
-说明：
- 支持 `--system` 或 `--system-file` 自定义提示词文件；`--system-file` 优先。
- 默认解析 OpenAI 风格返回，若包含 `<think>` 推理内容会显示在输出中（具体取决于模型和服务配置）。
-
 ---

 ## 工作流程
@@ -246,6 +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_reasoning_content/reasoning_content.md
+++ b/backend_service/generated_reasoning_content/reasoning_content.md
@@ -1,43 +0,0 @@
-好的，我现在需要处理用户的任务指令，生成一个符合要求的行为树JSON。首先，我得仔细阅读用户的指令和参考知识，确保理解所有要求。
-
-用户的目标是搜索并锁定危险性最高的气球（红色>蓝色>绿色），然后跟踪30秒后进行打击。参考知识中提到了三个地点，但用户可能希望搜索的区域是这些地点附近，或者需要根据这些坐标来规划路径。
-
-首先，我需要确定无人机的起降点。参考知识中的地点坐标可能作为搜索区域的中心。比如，用户提到的“学生宿舍”坐标是(5,3,2)，但可能需要选择一个合适的中心点进行搜索。不过用户没有明确指定搜索区域，可能需要使用search_pattern来覆盖这些区域，或者直接在某个中心点周围搜索。
-
-接下来，任务流程应该是：起飞→飞往搜索区域→搜索目标→检测到目标后跟踪→打击。同时必须包含安全监控。
-
-根据用户提供的参考知识，可能需要将搜索区域设置为某个中心点。比如，用户提到的“跷跷板”在(x:15, y:-8.5, z:1.2)，但z坐标需要调整到至少1米，这里已经是1.2，没问题。或者可能选择其他地点作为搜索中心。但用户没有明确说明，可能需要假设搜索区域是这些地点附近，或者使用一个综合的中心点。
-
-不过用户可能希望无人机先飞往某个特定的搜索区。比如，参考知识中的“学生宿舍”可能是一个可能的区域，但需要确认。或者用户可能希望无人机在某个中心点周围进行搜索。例如，使用search_pattern的中心点可能选在某个已知地点，比如“跷跷板”附近，或者综合多个点。
-
-但用户没有明确指定搜索区域，所以可能需要使用search_pattern的中心点为某个已知地点，比如“跷跷板”的坐标，或者选择一个合理的中心点。例如，假设搜索区域是“跷跷板”所在的位置，那么中心坐标为(15, -8.5, 1.2)。或者可能需要将搜索区域设置为多个地点的组合，但用户没有说明，所以可能需要选择一个中心点。
-
-接下来，考虑使用search_pattern来搜索，因为目标位置未知。参数中需要指定pattern_type，比如spiral或grid。假设选择spiral模式，覆盖更大的区域。中心点可能选在某个已知地点，比如“跷跷板”的坐标，或者综合多个点。但用户没有明确，所以可能需要选择一个合理的中心点，比如“跷跷板”的坐标。
-
-然后，检测到目标后，需要跟踪30秒，再打击。所以流程是：起飞→飞往搜索区→搜索→检测→跟踪→打击→降落。
-
-安全监控必须包含在Parallel节点中，监控电池和GPS，并在紧急情况下返航。
-
-现在，构建行为树的结构：
-
-根节点是Parallel，包含主任务和安全监控。主任务是Sequence，包含起飞、飞往搜索区、搜索、检测、跟踪、打击、降落。安全监控是Selector，包含电池和GPS条件，以及紧急处理Sequence。
-
-在搜索部分，使用search_pattern，参数包括pattern_type为spiral，中心点选在某个已知地点，比如“跷跷板”的坐标(15, -8.5, 1.2)，半径可能设为50米，覆盖较大区域。目标类别是balloon，描述为“红色气球危险性高于蓝色气球高于绿色气球”，但参数中description需要描述目标属性，比如“红>蓝>绿”。
-
-检测到目标后，使用track_object，参数target_class为balloon，description为“红>蓝>绿”，track_time为30秒。然后strike_target，最后评估战损。
-
-需要确保所有参数符合约束，比如z坐标在1-5000米之间，半径在5-1000米之间，速度等参数在合理范围。
-
-现在，将各个步骤的参数填入JSON中。例如，起飞到2米，飞往搜索区的中心点可能选在“跷跷板”的坐标(15, -8.5, 1.2)，但z需要调整到至少1米，这里已经是1.2。所以fly_to_waypoint的参数x=15，y=-8.5，z=1.2，接受半径2米。
-
-搜索使用search_pattern，pattern_type为spiral，中心点为(15, -8.5, 1.2)，半径设为50米，覆盖区域。目标类别是balloon，description为“红>蓝>绿”。
-
-检测到目标后，使用track_object，参数target_class为balloon，description为“红>蓝>绿”，track_time为30秒，min_confidence设为0.7，safe_distance设为15米。
-
-然后strike_target，参数target_class为balloon，description为“红>蓝>绿”，count为1。
-
-最后，降落。
-
-安全监控部分，电池阈值设为0.35，GPS的min_satellites设为8，紧急处理Sequence包括emergency_return和land。
-
-现在，将所有步骤的参数填入JSON中，确保符合所有规则。
--- a/backend_service/generated_visualizations/py_tree.png
+++ b/backend_service/generated_visualizations/py_tree.png
--- a/backend_service/src/pycache/py_tree_generator.cpython-310.pyc
+++ b/backend_service/src/pycache/py_tree_generator.cpython-310.pyc
--- a/backend_service/src/prompts/simple_mode_prompt.txt
+++ b/backend_service/src/prompts/simple_mode_prompt.txt
@@ -1,15 +1,16 @@
-你是一个无人机简单指令执行规划器。你的任务：输出一个严格的JSON对象。
+你是一个无人机简单指令执行规划器。你的任务：当用户给出“简单指令”（单一原子动作即可完成）时，输出一个严格的JSON对象。

 输出要求（必须遵守）：
 - 只输出一个JSON对象，不要任何解释或多余文本。
 - JSON结构：
-{"mode":"simple","action":{"name":"<action_name>","params":{...}}}
- 不包含任何行为树结构与安全监控并行，仅输出单一原子动作。
+{"root":{"type":"action","name":"<action_name>","params":{...}}}
+- <action_name> 与参数定义、取值范围，必须与“复杂模式”提示词（system_prompt.txt）中的定义完全一致。
+- 简单模式下root节点必须是action类型节点，不能是控制流节点。

 示例：
- “起飞到10米” → {"mode":"simple","action":{"name":"takeoff","params":{"altitude":10.0}}}
- “移动到(120,80,20)” → {"mode":"simple","action":{"name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
- “飞机自检” → {"mode":"simple","action":{"name":"preflight_checks","params":{"check_level":"comprehensive"}}}
+- “起飞到10米” → {"root":{"type":"action","name":"takeoff","params":{"altitude":10.0}}}
+- “移动到(120,80,20)” → {"root":{"type":"action","name":"fly_to_waypoint","params":{"x":120.0,"y":80.0,"z":20.0,"acceptance_radius":2.0}}}
+- “飞机自检” → {"root":{"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}}}

 —— 可用节点定义——
 ```json
--- 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: balloon,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），一般是用户提到的需要检测的目标；如果用户给出了需要探索的目标的优先级，比如蓝色球危险性大于红色球大于绿色球，需要检测最危险的球，此处应给出检测优先级，描述应当为 '蓝>红>绿'",
-        "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/backend_service/src/py_tree_generator.py
+++ b/backend_service/src/py_tree_generator.py
@@ -201,7 +201,7 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
        "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","balloon"
+        "clock", "vase", "scissors", "teddy_bear", "hair_drier", "toothbrush"
    ]
    
    # 递归节点定义
@@ -337,28 +337,35 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di

 def _generate_simple_mode_schema(allowed_actions: set) -> dict:
    """
-    生成简单模式JSON Schema：{"mode":"simple","action":{...}}
+    生成简单模式JSON Schema：{"root":{"type":"action","name":"<action_name>","params":{...}}}
    仅校验动作名称在允许集合内，以及基本结构完整性；参数按对象形状放宽，由上游提示词与运行时再约束。
    """
+    # 使用复杂模式Schema中的node定义，但限制root节点必须是action类型
+    node_definition = {
+        "type": "object",
+        "properties": {
+            "type": {"type": "string", "const": "action"},
+            "name": {"type": "string", "enum": sorted(list(allowed_actions))},
+            "params": {"type": "object"}
+        },
+        "required": ["type", "name"],
+        "additionalProperties": False
+    }
+    
    schema = {
        "$schema": "http://json-schema.org/draft-07/schema#",
        "title": "SimpleMode",
+        "definitions": {
+            "node": node_definition
+        },
        "type": "object",
        "properties": {
-            "mode": {"type": "string", "const": "simple"},
-            "action": {
-                "type": "object",
-                "properties": {
-                    "name": {"type": "string", "enum": sorted(list(allowed_actions))},
-                    "params": {"type": "object"}
-                },
-                "required": ["name"],
-                "additionalProperties": True
-            }
+            "root": { "$ref": "#/definitions/node" }
        },
-        "required": ["mode", "action"],
+        "required": ["root"],
        "additionalProperties": False
    }
+    
    return schema

 def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
@@ -548,16 +555,6 @@ class PyTreeGenerator:
        # Updated output directory for visualizations
        self.vis_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_visualizations'))
        os.makedirs(self.vis_dir, exist_ok=True)
-        # Reasoning content output directory (Markdown files)
-        self.reasoning_dir = os.path.abspath(os.path.join(self.base_dir, '..', 'generated_reasoning_content'))
-        os.makedirs(self.reasoning_dir, exist_ok=True)
-        # 控制是否允许模型返回含 <think> 的原文（不强制JSON），以便提取推理链
-        self.enable_reasoning_capture = os.getenv("ENABLE_REASONING_CAPTURE", "true").lower() in ("1", "true", "yes")
-        # 终端预览的最大行数
-        try:
-            self.reasoning_preview_lines = int(os.getenv("REASONING_PREVIEW_LINES", "20"))
-        except Exception:
-            self.reasoning_preview_lines = 20
        # 加载提示词：复杂模式复用现有 system_prompt.txt；简单模式与分类器独立提示词
        self.complex_prompt = self._load_prompt("system_prompt.txt")
        self.simple_prompt = self._load_prompt("simple_mode_prompt.txt")
@@ -574,10 +571,6 @@ class PyTreeGenerator:
        self.simple_base_url = os.getenv("SIMPLE_BASE_URL", f"http://{self.orin_ip}:8081/v1")
        self.complex_base_url = os.getenv("COMPLEX_BASE_URL", f"http://{self.orin_ip}:8081/v1")
        self.api_key = os.getenv("OPENAI_API_KEY", "sk-no-key-required")
-        # 直接在代码中指定最大输出token数（不通过环境变量）
-        self.classifier_max_tokens = 512
-        self.simple_max_tokens = 8192
-        self.complex_max_tokens = 8192
        
        # 为不同用途分别创建客户端
        self.classifier_client = openai.OpenAI(api_key=self.api_key, base_url=self.classifier_base_url)
@@ -640,8 +633,7 @@ class PyTreeGenerator:
                    {"role": "user", "content": user_prompt}
                ],
                temperature=0.0,
-                response_format={"type": "json_object"},
-                max_tokens=self.classifier_max_tokens
+                response_format={"type": "json_object"}
            )
            class_str = classifier_resp.choices[0].message.content
            class_obj = json.loads(class_str)
@@ -676,88 +668,21 @@ class PyTreeGenerator:
                # 简单/复杂分流到不同模型与提示词
                client = self.simple_llm_client if mode == "simple" else self.complex_llm_client
                model_name = self.simple_model if mode == "simple" else self.complex_model
-                # 根据是否捕获推理链来决定是否强制JSON响应
-                response_kwargs = {
-                    "model": model_name,
-                    "messages": [
+                response = client.chat.completions.create(
+                    model=model_name,
+                    messages=[
                        {"role": "system", "content": use_prompt},
                        {"role": "user", "content": final_user_prompt}
                    ],
-                    "temperature": 0.1 if mode == "complex" else 0.0,
-                }
-                if not self.enable_reasoning_capture:
-                    response_kwargs["response_format"] = {"type": "json_object"}
-                # 基于模式设定最大输出token数（直接在代码中配置）
-                response_kwargs["max_tokens"] = self.simple_max_tokens if mode == "simple" else self.complex_max_tokens
-                response = client.chat.completions.create(**response_kwargs)
-                # 兼容可能存在的 reasoning_content 字段
-                try:
-                    msg = response.choices[0].message
-                    msg_content = getattr(msg, "content", None)
-                    msg_reasoning = getattr(msg, "reasoning_content", None)
-                except Exception:
-                    msg = response.choices[0]["message"] if isinstance(response.choices[0], dict) else None
-                    msg_content = (msg or {}).get("content") if isinstance(msg, dict) else None
-                    msg_reasoning = (msg or {}).get("reasoning_content") if isinstance(msg, dict) else None
-
-                combined_text = ""
-                if isinstance(msg_reasoning, str) and msg_reasoning.strip():
-                    # 将 reasoning_content 包装为 <think>，便于统一解析
-                    combined_text += f"<think>\n{msg_reasoning}\n</think>\n"
-                if isinstance(msg_content, str) and msg_content.strip():
-                    combined_text += msg_content
-                pytree_str = combined_text if combined_text else (msg_content or "")
-                raw_full_text_for_logging = pytree_str  # 保存完整原文（含 <think>）以便失败时完整打印
-
-                # 提取 <think> 推理链内容（若存在）
-                reasoning_text = None
-                try:
-                    think_match = re.search(r"<think>([\s\S]*?)</think>", pytree_str)
-                    if think_match:
-                        reasoning_text = think_match.group(1).strip()
-                        # 去除推理文本后再尝试解析JSON
-                        pytree_str = re.sub(r"<think>[\s\S]*?</think>", "", pytree_str).strip()
-                except Exception:
-                    reasoning_text = None
+                    temperature=0.1 if mode == "complex" else 0.0,
+                    response_format={"type": "json_object"}
+                )
+                pytree_str = response.choices[0].message.content
                # 单独捕获JSON解析错误并打印原始响应
                try:
                    pytree_dict = json.loads(pytree_str)
                except json.JSONDecodeError as e:
-                    logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。\n—— 完整原始文本(含<think>) ——\n{raw_full_text_for_logging}")
-                    # 尝试打印响应对象的完整结构
-                    try:
-                        raw_response_dump = None
-                        if hasattr(response, 'model_dump_json'):
-                            raw_response_dump = response.model_dump_json(indent=2, exclude_none=False)
-                        elif hasattr(response, 'dict'):
-                            raw_response_dump = json.dumps(response.dict(), ensure_ascii=False, indent=2, default=str)
-                        else:
-                            # 兜底：尝试将choices与关键字段展开
-                            safe_obj = {
-                                "id": getattr(response, 'id', None),
-                                "model": getattr(response, 'model', None),
-                                "object": getattr(response, 'object', None),
-                                "usage": getattr(response, 'usage', None),
-                                "choices": [
-                                    {
-                                        "index": getattr(c, 'index', None),
-                                        "finish_reason": getattr(c, 'finish_reason', None),
-                                        "message": {
-                                            "role": getattr(getattr(c, 'message', None), 'role', None),
-                                            "content": getattr(getattr(c, 'message', None), 'content', None),
-                                            "reasoning_content": getattr(getattr(c, 'message', None), 'reasoning_content', None)
-                                        } if getattr(c, 'message', None) is not None else None
-                                    }
-                                    for c in getattr(response, 'choices', [])
-                                ] if hasattr(response, 'choices') else None
-                            }
-                            raw_response_dump = json.dumps(safe_obj, ensure_ascii=False, indent=2, default=str)
-                        logging.error(f"—— 完整响应对象 ——\n{raw_response_dump}")
-                    except Exception as dump_e:
-                        try:
-                            logging.error(f"响应对象转储失败，repr如下：\n{repr(response)}")
-                        except Exception:
-                            pass
+                    logging.error(f"❌ JSON解析失败（第 {attempt + 1}/3 次）。原始响应如下：\n{pytree_str}")
                    continue

                # 简单/复杂分别验证与返回
@@ -771,38 +696,14 @@ class PyTreeGenerator:
                    # 附加元信息并生成简单可视化（单动作）
                    plan_id = str(uuid.uuid4())
                    pytree_dict['plan_id'] = plan_id
-                    # 简单模式可视化：构造一个简化节点图
+                    # 简单模式可视化：直接使用root节点
                    try:
                        vis_filename = "py_tree.png"
                        vis_path = os.path.join(self.vis_dir, vis_filename)
-                        simple_node = {
-                            "type": "action",
-                            "name": pytree_dict.get('action', {}).get('name', 'action'),
-                            "params": pytree_dict.get('action', {}).get('params', {})
-                        }
-                        _visualize_pytree(simple_node, os.path.splitext(vis_path)[0])
+                        _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                        pytree_dict['visualization_url'] = f"/static/{vis_filename}"
                    except Exception as e:
                        logging.warning(f"简单模式可视化失败: {e}")
-
-                    # 保存推理链（若有）
-                    try:
-                        if reasoning_text:
-                            reasoning_path = os.path.join(self.reasoning_dir, "reasoning_content.md")
-                            with open(reasoning_path, 'w', encoding='utf-8') as rf:
-                                rf.write(reasoning_text)
-                            logging.info(f"📝 推理链已保存: {reasoning_path}")
-                            # 终端预览（最多N行）
-                            try:
-                                lines = reasoning_text.splitlines()
-                                preview = "\n".join(lines[: self.reasoning_preview_lines])
-                                logging.info("🧠 推理链预览(前%d行)：\n%s", self.reasoning_preview_lines, preview)
-                            except Exception:
-                                pass
-                        else:
-                            logging.info("未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。")
-                    except Exception as e:
-                        logging.warning(f"保存推理链Markdown失败: {e}")
                    return pytree_dict

                # 复杂模式回退：若模型误返回简单结构，则自动包装为含安全监控的行为树
@@ -855,25 +756,6 @@ class PyTreeGenerator:
                    vis_path = os.path.join(self.vis_dir, vis_filename)
                    _visualize_pytree(pytree_dict['root'], os.path.splitext(vis_path)[0])
                    pytree_dict['visualization_url'] = f"/static/{vis_filename}"
-
-                    # 保存推理链（若有）
-                    try:
-                        if reasoning_text:
-                            reasoning_path = os.path.join(self.reasoning_dir, "reasoning_content.md")
-                            with open(reasoning_path, 'w', encoding='utf-8') as rf:
-                                rf.write(reasoning_text)
-                            logging.info(f"📝 推理链已保存: {reasoning_path}")
-                            # 终端预览（最多N行）
-                            try:
-                                lines = reasoning_text.splitlines()
-                                preview = "\n".join(lines[: self.reasoning_preview_lines])
-                                logging.info("🧠 推理链预览(前%d行)：\n%s", self.reasoning_preview_lines, preview)
-                            except Exception:
-                                pass
-                        else:
-                            logging.info("未在模型输出中发现 <think> 推理链片段。若需捕获，请设置 ENABLE_REASONING_CAPTURE=true 以放宽JSON强制格式。")
-                    except Exception as e:
-                        logging.warning(f"保存推理链Markdown失败: {e}")
                    return pytree_dict
                else:
                    # 打印未通过验证的Pytree以便排查
--- a/tools/knowledge_base/export_knowledge.ndjson
+++ b/tools/knowledge_base/export_knowledge.ndjson
@@ -1,3 +1,5 @@
 {"text": "在地图上有一个名为 '跷跷板' 的地点或区域，它的leisure是'playground'，其中心位置坐标大约在 (x:15, y:-8.5, z:1.2)。"}
 {"text": "在地图上有一个名为 'A地' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:10, y:-10, z:2)。"}
 {"text": "在地图上有一个名为 '学生宿舍' 的地点或区域，它的building是'dormitory'，其中心位置坐标大约在 (x:5, y:3, z:2)。"}
+{"text": "在地图上有一个名为 '作业区域' 的地点或区域，它的building是'commercial'，其中心位置坐标大约在 (x:13.0, y:0.0, z:1.5)。"}
+{"text": "在地图上有一个名为 '搜索区' 的地点或区域，它的building是'restaurant'，其中心位置坐标大约在 (x:8.0, y:0.0, z:1.5)。"}
--- 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 = "已知目标检测红色气球危险性高于蓝色气球高于绿色气球，飞往搜索区搜索并锁定危险性最高的气球，对其跟踪30秒后进行打击操作"
+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_llama_server.py
+++ b/tools/test_llama_server.py
@@ -1,174 +0,0 @@
-#!/usr/bin/env python3
-# -*- coding: utf-8 -*-
-
-import os
-import sys
-import json
-import argparse
-from typing import Any, Dict
-
-import requests
-
-
-def build_args() -> argparse.Namespace:
-    parser = argparse.ArgumentParser(
-        description="调用本地 llama-server (OpenAI兼容) 进行推理，支持自定义系统/用户提示词"
-    )
-    parser.add_argument(
-        "--base-url",
-        default=os.getenv("SIMPLE_BASE_URL", "http://127.0.0.1:8081/v1"),
-        help="llama-server 的基础URL（默认: http://127.0.0.1:8081/v1，或环境变量 SIMPLE_BASE_URL）",
-    )
-    parser.add_argument(
-        "--model",
-        default=os.getenv("SIMPLE_MODEL", "local-model"),
-        help="模型名称（默认: local-model，或环境变量 SIMPLE_MODEL）",
-    )
-    parser.add_argument(
-        "--system",
-        default="You are a helpful assistant.",
-        help="系统提示词（system role）",
-    )
-    parser.add_argument(
-        "--system-file",
-        default=None,
-        help="系统提示词文件路径（txt）；若提供，则覆盖 --system 的字符串",
-    )
-    parser.add_argument(
-        "--user",
-        default=None,
-        help="用户提示词（user role）；若不传则从交互式输入读取",
-    )
-    parser.add_argument(
-        "--temperature",
-        type=float,
-        default=0.2,
-        help="采样温度（默认: 0.2）",
-    )
-    parser.add_argument(
-        "--max-tokens",
-        type=int,
-        default=4096,
-        help="最大生成Token数（默认: 4096）",
-    )
-    parser.add_argument(
-        "--timeout",
-        type=float,
-        default=120.0,
-        help="HTTP超时时间秒（默认: 120）",
-    )
-    parser.add_argument(
-        "--verbose",
-        action="store_true",
-        help="打印完整返回JSON",
-    )
-    return parser.parse_args()
-
-
-def call_llama_server(
-    base_url: str,
-    model: str,
-    system_prompt: str,
-    user_prompt: str,
-    temperature: float,
-    max_tokens: int,
-    timeout: float,
-) -> Dict[str, Any]:
-    endpoint = base_url.rstrip("/") + "/chat/completions"
-    headers: Dict[str, str] = {"Content-Type": "application/json"}
-
-    # 兼容需要API Key的代理/服务（llama-server通常不强制）
-    api_key = os.getenv("OPENAI_API_KEY")
-    if api_key:
-        headers["Authorization"] = f"Bearer {api_key}"
-
-    payload: Dict[str, Any] = {
-        "model": model,
-        "messages": [
-            {"role": "system", "content": system_prompt},
-            {"role": "user", "content": user_prompt},
-        ],
-        "temperature": temperature,
-        "max_tokens": max_tokens,
-    }
-
-    resp = requests.post(endpoint, headers=headers, data=json.dumps(payload), timeout=timeout)
-    resp.raise_for_status()
-    return resp.json()
-
-
-def main() -> None:
-    args = build_args()
-
-    user_prompt = args.user
-    if not user_prompt:
-        try:
-            user_prompt = input("请输入用户提示词: ")
-        except KeyboardInterrupt:
-            print("\n已取消。")
-            sys.exit(1)
-
-    # 解析系统提示词：优先使用 --system-file
-    system_prompt = args.system
-    if args.system_file:
-        try:
-            with open(args.system_file, "r", encoding="utf-8") as f:
-                system_prompt = f.read()
-        except Exception as e:
-            print("\n❌ 读取系统提示词文件失败：")
-            print(str(e))
-            sys.exit(1)
-
-    try:
-        print("--- llama-server 推理 ---")
-        print(f"Base URL: {args.base_url}")
-        print(f"Model: {args.model}")
-        if args.system_file:
-            print(f"System(from file): {args.system_file}")
-        else:
-            print(f"System: {system_prompt}")
-        print(f"User: {user_prompt}")
-
-        data = call_llama_server(
-            base_url=args.base_url,
-            model=args.model,
-            system_prompt=system_prompt,
-            user_prompt=user_prompt,
-            temperature=args.temperature,
-            max_tokens=args.max_tokens,
-            timeout=args.timeout,
-        )
-
-        if args.verbose:
-            print("\n完整返回JSON:")
-            print(json.dumps(data, ensure_ascii=False, indent=2))
-
-        # 尝试按OpenAI兼容格式提取assistant内容
-        content = None
-        try:
-            content = data["choices"][0]["message"]["content"]
-        except Exception:
-            pass
-
-        if content is not None:
-            print("\n模型输出:")
-            print(content)
-        else:
-            # 兜底打印
-            print("\n无法按OpenAI兼容字段解析内容，原始返回如下：")
-            print(json.dumps(data, ensure_ascii=False))
-
-    except requests.exceptions.RequestException as e:
-        print("\n❌ 请求失败：请确认 llama-server 已在 8081 端口启动并可访问。")
-        print(f"详情: {e}")
-        sys.exit(2)
-    except Exception as e:
-        print("\n❌ 发生未预期的错误：")
-        print(str(e))
-        sys.exit(3)
-
-
-if __name__ == "__main__":
-    main()
-
-
--- 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/Show More
+++ b/Show More
Author	SHA1	Message	Date
huangfu	b91291b734	更新vllm后端的使用方法	2025-10-13 11:54:02 +08:00
huangfu	00cde0d2dc	增加区域坐标	2025-09-27 14:11:59 +08:00
huangfu	bef742db1b	增加简单模式root键	2025-09-25 21:57:32 +08:00