更新vllm后端的使用方法

README.md

@@ -13,6 +13,10 @@
 │   │   ├── __init__.py
 │   │   ├── main.py               # 应用主入口，提供Web API
 │   │   ├── py_tree_generator.py  # RAG与LLM集成，生成py_tree
+│   │   ├── prompts/              # LLM 提示词
+│   │   │   ├── system_prompt.txt         # 复杂模式提示词（行为树与安全监控）
+│   │   │   ├── simple_mode_prompt.txt    # 简单模式提示词（单一原子动作JSON）
+│   │   │   └── 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
 │   └── requirements.txt          # 后端服务的Python依赖
@@ -57,6 +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**
 
@@ -67,6 +83,54 @@
 
 ---
 
+## 指令分类与分流
+
+后端在生成任务前会先对用户指令进行“简单/复杂”分类，并分流到不同提示词与模型：
+
+- 分类提示词：`backend_service/src/prompts/classifier_prompt.txt`
+- 简单模式提示词：`backend_service/src/prompts/simple_mode_prompt.txt`
+- 复杂模式提示词：`backend_service/src/prompts/system_prompt.txt`
+
+分类仅输出如下JSON之一：`{"mode":"simple"}` 或 `{"mode":"complex"}`。两种模式都会执行检索增强（RAG），将参考知识拼接到用户指令后再进行推理。
+
+当为简单模式时，LLM仅输出：
+`{"mode":"simple","action":{"name":"<action>","params":{...}}}`。
+后端不会再自动封装为复杂行为树；将直接返回简单JSON，并附加 `plan_id` 与 `visualization_url`（单动作可视化）。
+
+### 环境变量（可选）
+
+支持为“分类/简单/复杂”三类调用分别配置模型与Base URL（未设置时回退到默认本地配置）：
+
+- `CLASSIFIER_MODEL`, `CLASSIFIER_BASE_URL`
+- `SIMPLE_MODEL`, `SIMPLE_BASE_URL`
+- `COMPLEX_MODEL`, `COMPLEX_BASE_URL`
+
+通用API Key：`OPENAI_API_KEY`
+
+示例：
+```bash
+export CLASSIFIER_MODEL="qwen2.5-1.8b-instruct"
+export SIMPLE_MODEL="qwen2.5-1.8b-instruct"
+export COMPLEX_MODEL="qwen2.5-7b-instruct"
+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"
+```
+
+### 测试简单模式
+
+启动服务后，运行内置测试脚本：
+
+```bash
+cd tools
+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`。
+
+---
+
 ## 工作流程
 
 整个系统的工作流程分为两个主要阶段：
@@ -168,6 +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。
@@ -235,7 +300,7 @@ python test_api.py
     "user_prompt": "无人机起飞到10米，然后前往机库，最后降落。"
   }
   ```
-- **Success Response**:
+- **Success Response（复杂模式）**:
   ```json
   {
     "root": { ... },
@@ -243,6 +308,15 @@ python test_api.py
     "visualization_url": "/static/py_tree.png"
   }
   ```
+- **Success Response（简单模式）**:
+  ```json
+  {
+    "mode": "simple",
+    "action": { "name": "takeoff", "params": { "altitude": 10.0 } },
+    "plan_id": "some-unique-id",
+    "visualization_url": "/static/py_tree.png"
+  }
+  ```
 
 ##### **B. 查看任务可视化**
 

backend_service/src/prompts/classifier_prompt.txt

@@ -0,0 +1,24 @@
+你是一个严格的任务分类器。只输出一个JSON对象，不要输出解释或多余文本。
+根据用户指令与下述可用节点定义，判断其为“简单”或“复杂”。
+
+- 简单：单一原子动作即可完成（例如“起飞”“飞机自检”“移动到某地(已给定坐标)”“对着某点环绕XY圈（如‘对着学生宿舍环绕三十两圈’）”等），且无需行为树与安全并行监控。
+- 复杂：需要多步流程、搜索/检测/跟踪/评估、战损确认、或需要模板化任务结构与安全并行监控。
+
+输出格式（严格遵守）：
+{"mode":"simple"} 或 {"mode":"complex"}
+
+—— 可用节点定义——
+```json
+{
+  "actions": [
+    {"name": "takeoff"}, {"name": "land"}, {"name": "fly_to_waypoint"}, {"name": "move_direction"}, {"name": "orbit_around_point"}, {"name": "orbit_around_target"}, {"name": "loiter"},
+    {"name": "object_detect"}, {"name": "strike_target"}, {"name": "battle_damage_assessment"},
+    {"name": "search_pattern"}, {"name": "track_object"}, {"name": "deliver_payload"},
+    {"name": "preflight_checks"}, {"name": "emergency_return"}
+  ],
+  "conditions": [
+    {"name": "battery_above"}, {"name": "at_waypoint"}, {"name": "object_detected"},
+    {"name": "target_destroyed"}, {"name": "time_elapsed"}, {"name": "gps_status"}
+  ]
+}
+```

backend_service/src/prompts/simple_mode_prompt.txt

@@ -0,0 +1,62 @@
+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：
+{"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” → {"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
+{
+  "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。使用相对坐标系（x,y,z），单位为米。", "params": {"x": "float", "y": "float", "z": "float", "acceptance_radius": "float, 可选，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: north|south|east|west|forward|backward|left|right", "distance": "float[1,10000], 可选, 不指定则持续移动"}},
+    {"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", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 默认true"}},
+    {"name": "orbit_around_target", "description": "以目标为中心，等速圆周飞行指定圈数（需已有目标）。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "radius": "float[5,1000]", "laps": "int[1,20]", "clockwise": "boolean, 可选, 默认true", "speed_mps": "float[0.5,15], 可选", "gimbal_lock": "boolean, 可选, 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[1,600]", "until_condition": "string, 可选"}},
+    {"name": "object_detect", "description": "识别特定目标对象。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'", "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", "count": "int, 可选, 默认1"}},
+    {"name": "strike_target", "description": "对已识别目标进行打击。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
+    {"name": "battle_damage_assessment", "description": "战损评估。", "params": {"target_class": "string", "assessment_time": "float[5-60], 默认15.0"}},
+    {"name": "search_pattern", "description": "按模式搜索。", "params": {"pattern_type": "string: spiral|grid", "center_x": "float", "center_y": "float", "center_z": "float", "radius": "float[5,1000]", "target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
+    {"name": "track_object", "description": "持续跟踪目标。", "params": {"target_class": "string, 取值同object_detect列表", "description": "string, 可选", "track_time": "float[1,600], 默认30.0", "min_confidence": "float[0.5-1.0], 默认0.7", "safe_distance": "float[2-50], 默认10.0"}},
+    {"name": "deliver_payload", "description": "投放物资。", "params": {"payload_type": "string", "release_altitude": "float[2,100], 默认5.0"}},
+    {"name": "preflight_checks", "description": "飞行前系统自检。", "params": {"check_level": "string: basic|comprehensive"}},
+    {"name": "emergency_return", "description": "执行紧急返航程序。", "params": {"reason": "string"}}
+  ],
+  "conditions": [
+    {"name": "battery_above", "description": "电池电量高于阈值。", "params": {"threshold": "float[0.0,1.0]"}},
+    {"name": "at_waypoint", "description": "在指定坐标容差范围内。", "params": {"x": "float", "y": "float", "z": "float", "tolerance": "float, 可选, 默认3.0"}},
+    {"name": "object_detected", "description": "检测到特定目标。", "params": {"target_class": "string", "description": "string, 可选", "count": "int, 可选, 默认1"}},
+    {"name": "target_destroyed", "description": "目标已被摧毁。", "params": {"target_class": "string", "description": "string, 可选", "confidence": "float[0.5-1.0], 默认0.8"}},
+    {"name": "time_elapsed", "description": "时间经过。", "params": {"duration": "float[1,2700]"}},
+    {"name": "gps_status", "description": "GPS状态良好。", "params": {"min_satellites": "int[6,15], 默认10"}}
+  ]
+}
+```
+
+—— 参数约束——
+- takeoff.altitude: [1, 100]
+- fly_to_waypoint.z: [1, 5000]
+- fly_to_waypoint.x,y: [-10000, 10000]
+- search_pattern.radius: [5, 1000]
+- move_direction.distance: [1, 10000]
+- orbit_around_point.radius: [5, 1000]
+- orbit_around_target.radius: [5, 1000]
+- orbit_around_point/target.laps: [1, 20]
+- orbit_around_point/target.speed_mps: [0.5, 15]
+- 若参考知识提供坐标，必须使用并裁剪到约束范围内
+
+—— 口令转化规则（环绕类）——
+- “环绕X米Y圈” → 若有目标上下文则使用 `orbit_around_target`，否则根据是否给出中心坐标选择 `orbit_around_point`；`radius=X`，`laps=Y`，默认 `clockwise=true`，`gimbal_lock=true`
+- “顺时针/逆时针” → `clockwise=true/false`
+- “等速” → 若未给速度则 `speed_mps` 采用默认值（例如3.0）；若口令指明速度，裁剪到[0.5,15]
+- “以(x,y,z)为中心”/“当前位置为中心” → 选择 `orbit_around_point` 并填充 `center_x/center_y/center_z`

backend_service/src/prompts/system_prompt.txt

@@ -1,223 +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": "loiter",
-      "description": "在当前位置上空悬停一段时间或直到条件触发。",
-      "params": {
-        "duration": "float, 可选，悬停时间(秒)[1,600]",
-        "until_condition": "string, 可选，等待的条件名称"
-      }
-    },
-    {
-      "name": "object_detect",
-      "description": "在当前视野范围内识别特定目标对象。适用于定点检测，无人机应在目标大致位置悬停或保持稳定姿态。",
-      "params": {
-        "target_class": "string, 要识别的目标类别，必须为以下值之一: person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic_light, fire_hydrant, stop_sign, parking_meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports_ball, kite, baseball_bat, baseball_glove, skateboard, surfboard, tennis_racket, bottle, wine_glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot_dog, pizza, donut, cake, chair, couch, potted_plant, bed, dining_table, toilet, tv, laptop, mouse, remote, keyboard, cell_phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy_bear, hair_drier, toothbrush",
-        "description": "string, 可选，目标属性描述（如颜色、状态等）",
-        "count": "int, 可选，需要检测的目标个数，默认1"
-      }
-    },
-    {
-      "name": "strike_target",
-      "description": "对已识别的目标进行打击。必须先使用object_detect成功识别目标后才能使用此动作。",
-      "params": {
-        "target_class": "string, 要打击的目标类别",
-        "description": "string, 可选，目标属性描述（用于确认目标身份）",
-        "count": "int, 可选，需要打击的目标个数，默认1"
-      }
-    },
-    {
-      "name": "battle_damage_assessment",
-      "description": "对打击效果进行评估，确认目标是否被有效摧毁。",
-      "params": {
-        "target_class": "string, 被打击的目标类别",
-        "assessment_time": "float, 评估时间(秒)[5-60]，默认15.0"
-      }
-    },
-    {
-      "name": "search_pattern",
-      "description": "通过执行一个系统性的移动搜索模式，在指定区域内寻找特定目标。无人机会持续移动并分析视频流，直到找到目标或完成整个搜索模式。适用于在未知区域发现目标。",
-      "params": {
-        "pattern_type": "string, 搜索模式类型: 'spiral'（螺旋搜索）, 'grid'（栅格搜索）",
-        "center_x": "float, 搜索中心X坐标(米)",
-        "center_y": "float, 搜索中心Y坐标(米)",
-        "center_z": "float, 搜索中心Z坐标(米)",
-        "radius": "float, 搜索半径(米)[5,1000]",
-        "target_class": "string, 要寻找的目标类别",
-        "description": "string, 可选，目标属性描述",
-        "count": "int, 可选，需要找到的目标个数，默认1"
-      }
-    },
-    {
-      "name": "track_object",
-      "description": "持续跟踪已识别的目标对象。无人机将保持对目标的视觉锁定并跟随其移动。必须先使用object_detect成功识别目标后才能使用此动作。",
-      "params": {
-        "target_class": "string, 要跟踪的目标类别，必须为以下值之一: person, bicycle, car, motorcycle, airplane, bus, train, truck, boat, traffic_light, fire_hydrant, stop_sign, parking_meter, bench, bird, cat, dog, horse, sheep, cow, elephant, bear, zebra, giraffe, backpack, umbrella, handbag, tie, suitcase, frisbee, skis, snowboard, sports_ball, kite, baseball_bat, baseball_glove, skateboard, surfboard, tennis_racket, bottle, wine_glass, cup, fork, knife, spoon, bowl, banana, apple, sandwich, orange, broccoli, carrot, hot_dog, pizza, donut, cake, chair, couch, potted_plant, bed, dining_table, toilet, tv, laptop, mouse, remote, keyboard, cell_phone, microwave, oven, toaster, sink, refrigerator, book, clock, vase, scissors, teddy_bear, hair_drier, toothbrush",
-        "description": "string, 可选，目标属性描述（如颜色、状态等）",
-        "track_time": "float, 跟踪持续时间(秒)[1,600]，默认30.0",
-        "min_confidence": "float, 可选，跟踪置信度阈值[0.5-1.0]，默认0.7",
-        "safe_distance": "float, 可选，保持的安全距离(米)[2-50]，默认10.0"
-      }
-    },
-    {
-      "name": "deliver_payload",
-      "description": "投放携带的物资。",
-      "params": {
-        "payload_type": "string, 物资类型",
-        "release_altitude": "float, 可选，投放高度(米)[2,100]，默认5.0"
-      }
-    },
-    {
-      "name": "preflight_checks",
-      "description": "执行飞行前系统自检。",
-      "params": {
-        "check_level": "string, 检查级别: 'basic'（基础）, 'comprehensive'（全面）"
-      }
-    },
-    {
-      "name": "emergency_return",
-      "description": "执行紧急返航程序。",
-      "params": {
-        "reason": "string, 紧急返航原因"
-      }
-    }
+    {"name":"takeoff","params":{"altitude":"float, 范围[1,100]，默认2"}},
+    {"name":"land","params":{"mode":"string, 'current'/'home'"}},
+    {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}},
+    {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动"}},
+    {"name":"orbit_around_point","params":{"center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
+    {"name":"orbit_around_target","params":{"target_class":"见object_detect列表","description":"可选","radius":"[5,1000]","laps":"[1,20]","clockwise":"默认true","speed_mps":"[0.5,15]","gimbal_lock":"默认true"}},
+    {"name":"loiter","params":{"duration":"[1,600]秒/until_condition:可选"}},
+    {"name":"object_detect","params":{"target_class":"person,bicycle,car,motorcycle,airplane,bus,train,truck,boat,traffic_light,fire_hydrant,stop_sign,parking_meter,bench,bird,cat,dog,horse,sheep,cow,elephant,bear,zebra,giraffe,backpack,umbrella,handbag,tie,suitcase,frisbee,skis,snowboard,sports_ball,kite,baseball_bat,baseball_glove,skateboard,surfboard,tennis_racket,bottle,wine_glass,cup,fork,knife,spoon,bowl,banana,apple,sandwich,orange,broccoli,carrot,hot_dog,pizza,donut,cake,chair,couch,potted_plant,bed,dining_table,toilet,tv,laptop,mouse,remote,keyboard,cell_phone,microwave,oven,toaster,sink,refrigerator,book,clock,vase,scissors,teddy_bear,hair_drier,toothbrush","description":"可选，目标属性（如'穿黑色衣服'）","count":"默认1"}},
+    {"name":"strike_target","params":{"target_class":"同object_detect","description":"可选，目标属性","count":"默认1"}},
+    {"name":"battle_damage_assessment","params":{"target_class":"同object_detect","assessment_time":"[5,60]，默认15"}},
+    {"name":"search_pattern","params":{"pattern_type":"spiral/grid","center_x":"±10000","center_y":"±10000","center_z":"[1,5000]","radius":"[5,1000]","target_class":"同object_detect","description":"可选","count":"默认1"}},
+    {"name":"track_object","params":{"target_class":"同object_detect","description":"可选","track_time":"[1,600]秒（必传，不可用'duration'）","min_confidence":"[0.5,1.0]默认0.7","safe_distance":"[2,50]默认10"}},
+    {"name":"deliver_payload","params":{"payload_type":"string","release_altitude":"[2,100]默认5"}},
+    {"name":"preflight_checks","params":{"check_level":"basic/comprehensive"}},
+    {"name":"emergency_return","params":{"reason":"string"}}
   ],
   "conditions": [
-    {
-      "name": "battery_above",
-      "description": "检查电池电量是否高于指定阈值。",
-      "params": {
-        "threshold": "float, 电量阈值百分比[0.0,1.0]"
-      }
-    },
-    {
-      "name": "at_waypoint",
-      "description": "检查无人机是否在指定坐标点的容差范围内。使用相对坐标系（x,y,z），单位为米。",
-      "params": {
-        "x": "float, 目标X坐标(米)",
-        "y": "float, 目标Y坐标(米)",
-        "z": "float, 目标Z坐标(米)",
-        "tolerance": "float, 可选，容差半径(米)，默认3.0"
-      }
-    },
-    {
-      "name": "object_detected",
-      "description": "检查是否检测到特定目标对象。可用于验证 object_detect 或 search_pattern 的结果，也可作为打击的前提条件。",
-      "params": {
-        "target_class": "string, 目标类型",
-        "description": "string, 可选，目标属性描述",
-        "count": "int, 可选，需要检测到的目标个数，默认1"
-      }
-    },
-    {
-      "name": "target_destroyed",
-      "description": "检查目标是否已被成功摧毁。用于战损评估后的确认。",
-      "params": {
-        "target_class": "string, 目标类型",
-        "description": "string, 可选，目标属性描述",
-        "confidence": "float, 可选，摧毁置信度[0.5-1.0]，默认0.8"
-      }
-    },
-    {
-      "name": "time_elapsed",
-      "description": "检查自任务开始是否经过指定时间。",
-      "params": {
-        "duration": "float, 时间长度(秒)[1,2700]"
-      }
-    },
-    {
-      "name": "gps_status",
-      "description": "检查GPS信号状态是否良好。",
-      "params": {
-        "min_satellites": "int, 最小卫星数量[6,15]，默认10"
-      }
-    }
+    {"name":"battery_above","params":{"threshold":"[0.0,1.0]，必传"}},
+    {"name":"at_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","tolerance":"默认3.0"}},
+    {"name":"object_detected","params":{"target_class":"同object_detect（必传）","description":"可选","count":"默认1"}},
+    {"name":"target_destroyed","params":{"target_class":"同object_detect","description":"可选","confidence":"[0.5,1.0]默认0.8"}},
+    {"name":"time_elapsed","params":{"duration":"[1,2700]秒"}},
+    {"name":"gps_status","params":{"min_satellites":"int, 范围[6,15]，必传（如8）"}}
   ],
   "control_flow": [
-    {
-      "name": "Sequence",
-      "description": "序列节点，按顺序执行其子节点。只有当所有子节点都成功时，它才成功。",
-      "params": {},
-      "children": "array, 包含按顺序执行的子节点"
-    },
-    {
-      "name": "Selector",
-      "description": "选择节点，按顺序执行子节点直到一个成功。如果所有子节点都失败，则失败。",
-      "params": {
-        "memory": "boolean, 可选，是否记忆执行状态，默认true"
-      },
-      "children": "array, 包含备选执行的子节点"
-    },
-    {
-      "name": "Parallel",
-      "description": "并行节点，同时执行所有子节点。支持不同的成功策略。",
-      "params": {
-        "policy": "string, 成功策略: 'all_success'（全部成功）, 'one_success'（一个成功）"
-      },
-      "children": "array, 包含并行执行的子节点"
-    }
+    {"name":"Sequence","params":{},"children":"子节点数组（按序执行，全成功则成功）"},
+    {"name":"Selector","params":{"memory":"默认true"},"children":"子节点数组（执行到成功为止）"},
+    {"name":"Parallel","params":{"policy":"all_success/one_success"},"children":"子节点数组（同时执行）"}
   ]
 }
 ```
 
-#### 3. JSON结构规范 (必须遵守)
-生成的JSON对象必须有一个名为`root`的键，其值是一个有效的行为树节点对象。每个节点都必须包含正确的字段。
-- **根节点必须是控制流节点**（`Sequence`、`Selector`或`Parallel`），不能是动作（`action`）或条件（`condition`）节点。
-- **动作节点和条件节点是叶子节点**，不能有`children`字段。
-- 控制流节点必须有`children`字段，且其值是一个子节点数组。
-- **必须包含安全监控**：所有任务行为树必须包含实时安全监控，通常通过一个与主任务并行（Parallel）的Selector节点实现，该节点监控电池电量、GPS状态等安全条件，并在条件不满足时触发紧急返航或降落。
-- 每个节点必须包含：
-  - `type`: 节点类型，必须是`'action'`、`'condition'`、`'Sequence'`、`'Selector'`或`'Parallel'`
-  - `name`: 来自可用节点列表的确切名称
-  - `params`: 对象，包含所需的参数（必须符合参数范围约束）
-  - `children`: 数组（仅控制流节点需要），包含子节点对象
 
-**安全监控要求详解**：
-1. **必须使用Parallel节点**：根节点必须是Parallel节点，其策略必须设置为`"policy": "all_success"`，确保主任务和安全监控同时执行
-2. **必须包含安全监控Selector**：Parallel节点的子节点中必须包含一个Selector节点用于安全监控，通常命名为`"SafetyMonitor"`
-3. **必须包含电池监控**：安全监控Selector必须包含`battery_above`条件节点，监控电池电量
-4. **必须包含GPS监控**：安全监控Selector应该包含`gps_status`条件节点，监控GPS信号状态
-5. **必须包含紧急处理流程**：安全监控Selector必须包含紧急处理Sequence，在安全条件不满足时执行紧急返航和降落
+## 二、节点必填字段（后端Schema强制要求，缺一验证失败）
+每个节点必须包含以下字段，字段名不可自定义：
+1. **`type`**：节点类型（严格匹配）  
+   - 动作节点：`"action"`  
+   - 条件节点：`"condition"`  
+   - 控制流节点：`"Sequence"`/`"Selector"`/`"Parallel"`（与`name`字段值完全一致）  
+2. **`name`**：节点名称（必须是上述JSON中`actions`/`conditions`/`control_flow`下的`name`值，如"gps_status"而非其他）  
+3. **`params`**：参数对象（严格匹配上述JSON中对应节点的`params`定义，不可加自定义参数，如`object_detected`不可加"color"，需用"description"）  
+4. **`children`**：子节点数组（仅控制流节点必含，动作/条件节点无此字段）  
 
-**正确示例**：
+
+## 三、根节点与安全监控固定结构（后端安全验证必含）
+根节点必须是`Parallel`，且`children`包含`MainTask`（Sequence）和`SafetyMonitor`（Selector），结构不可修改：
 ```json
 {
   "root": {
@@ -228,9 +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"}}
         ]
       },
       {
@@ -238,22 +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"}}
             ]
           }
         ]
@@ -263,453 +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]
-- 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": "SafetyMonitorSelector",
-        "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": "EmergencyProcedureSequence",
-            "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）。
-
-#### 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**。

backend_service/src/py_tree_generator.py

@@ -335,6 +335,39 @@ def _generate_pytree_schema(allowed_actions: set, allowed_conditions: set) -> di
     
     return schema
 
+def _generate_simple_mode_schema(allowed_actions: set) -> dict:
+    """
+    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 = {
+        "$schema": "http://json-schema.org/draft-07/schema#",
+        "title": "SimpleMode",
+        "definitions": {
+            "node": node_definition
+        },
+        "type": "object",
+        "properties": {
+            "root": { "$ref": "#/definitions/node" }
+        },
+        "required": ["root"],
+        "additionalProperties": False
+    }
+    
+    return schema
+
 def _validate_pytree_with_schema(pytree_instance: dict, schema: dict) -> bool:
     """
     使用JSON Schema验证给定的Pytree实例。
@@ -522,13 +555,27 @@ 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)
-        self.system_prompt = self._load_prompt("system_prompt.txt")
+        # 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")
+        self.classifier_prompt = self._load_prompt("classifier_prompt.txt")
+        # 兼容旧变量名
+        self.system_prompt = self.complex_prompt
         
         self.orin_ip = os.getenv("ORIN_IP", "localhost")
-        self.llm_client = openai.OpenAI(
-            api_key=os.getenv("OPENAI_API_KEY", "sk-no-key-required"),
-            base_url=f"http://{self.orin_ip}:8081/v1"
-        )
+        # 三类模型的可配置项：基于不同模型与Base URL分流
+        self.classifier_model = os.getenv("CLASSIFIER_MODEL", os.getenv("OPENAI_MODEL", "local-model"))
+        self.simple_model = os.getenv("SIMPLE_MODEL", os.getenv("OPENAI_MODEL", "local-model"))
+        self.complex_model = os.getenv("COMPLEX_MODEL", os.getenv("OPENAI_MODEL", "local-model"))
+        self.classifier_base_url = os.getenv("CLASSIFIER_BASE_URL", f"http://{self.orin_ip}:8081/v1")
+        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")
+        
+        # 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)
+        self.simple_llm_client = openai.OpenAI(api_key=self.api_key, base_url=self.simple_base_url)
+        self.complex_llm_client = openai.OpenAI(api_key=self.api_key, base_url=self.complex_base_url)
         
         # --- ChromaDB Client Setup ---
         vector_store_path = os.path.abspath(os.path.join(self.base_dir, '..', '..', 'tools', 'vector_store'))
@@ -542,8 +589,10 @@ class PyTreeGenerator:
             embedding_function=embedding_func
         )
         
-        allowed_actions, allowed_conditions = _parse_allowed_nodes_from_prompt(self.system_prompt)
+        # 使用复杂模式提示词作为节点来源，确保Schema稳定
+        allowed_actions, allowed_conditions = _parse_allowed_nodes_from_prompt(self.complex_prompt)
         self.schema = _generate_pytree_schema(allowed_actions, allowed_conditions)
+        self.simple_schema = _generate_simple_mode_schema(allowed_actions)
 
     def _load_prompt(self, file_name: str) -> str:
         try:
@@ -574,14 +623,39 @@ class PyTreeGenerator:
         """
         logging.info(f"接收到用户请求: {user_prompt}")
         
-        retrieved_context = self._retrieve_context(user_prompt)
-        
+        # 第一步：分类（简单/复杂）
+        mode = "complex"
+        try:
+            classifier_resp = self.classifier_client.chat.completions.create(
+                model=self.classifier_model,
+                messages=[
+                    {"role": "system", "content": self.classifier_prompt or "你是一个分类器，只输出JSON。"},
+                    {"role": "user", "content": user_prompt}
+                ],
+                temperature=0.0,
+                response_format={"type": "json_object"}
+            )
+            class_str = classifier_resp.choices[0].message.content
+            class_obj = json.loads(class_str)
+            if isinstance(class_obj, dict) and class_obj.get("mode") in ("simple", "complex"):
+                mode = class_obj.get("mode")
+            logging.info(f"分类结果: {mode}")
+        except Exception as e:
+            logging.warning(f"分类失败，默认按复杂指令处理: {e}")
+
+        # 第二步：根据模式准备提示词与上下文（简单与复杂都执行检索增强）
+        # 基于模式选择提示词；复杂模式追加一条强制规则，避免模型误输出简单结构
+        use_prompt = self.simple_prompt if mode == "simple" else (
+            (self.complex_prompt or "") +
+            "\n\n【强制规则】仅生成包含root的复杂行为树JSON，不得输出简单模式（不得包含mode字段或仅有action节点）。"
+        )
         final_user_prompt = user_prompt
+        retrieved_context = self._retrieve_context(user_prompt)
         if retrieved_context:
             augmentation = (
                 "\n\n---\n"
                 "参考知识：\n"
-                "以下是从知识库中检索到的、与当前任务最相关的信息，请优先参考这些信息来生成行为树：\n"
+                "以下是从知识库中检索到的、与当前任务最相关的信息，请优先参考这些信息来生成结果：\n"
                 f"{retrieved_context}"
                 "\n---"
             )
@@ -591,17 +665,87 @@ class PyTreeGenerator:
         for attempt in range(3):
             logging.info(f"--- 第 {attempt + 1}/3 次尝试生成Pytree ---")
             try:
-                response = self.llm_client.chat.completions.create(
-                    model="local-model",
+                # 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
+                response = client.chat.completions.create(
+                    model=model_name,
                     messages=[
-                        {"role": "system", "content": self.system_prompt},
+                        {"role": "system", "content": use_prompt},
                         {"role": "user", "content": final_user_prompt}
                     ],
-                    temperature=0.1,
+                    temperature=0.1 if mode == "complex" else 0.0,
                     response_format={"type": "json_object"}
                 )
                 pytree_str = response.choices[0].message.content
-                pytree_dict = json.loads(pytree_str)
+                # 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）。原始响应如下：\n{pytree_str}")
+                    continue
+
+                # 简单/复杂分别验证与返回
+                if mode == "simple":
+                    try:
+                        jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
+                        logging.info("✅ 简单模式JSON Schema验证成功")
+                    except jsonschema.ValidationError as e:
+                        logging.warning(f"❌ 简单模式验证失败: {e.message}")
+                        continue
+                    # 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：直接使用root节点
+                    try:
+                        vis_filename = "py_tree.png"
+                        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}"
+                    except Exception as e:
+                        logging.warning(f"简单模式可视化失败: {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
+                if mode == "complex" and isinstance(pytree_dict, dict) and 'root' not in pytree_dict:
+                    try:
+                        jsonschema.validate(instance=pytree_dict, schema=self.simple_schema)
+                        logging.warning("⚠️ 复杂模式生成了简单结构，触发自动包装为完整行为树的回退逻辑。")
+                        simple_action_obj = pytree_dict.get('action') or {}
+                        action_name = simple_action_obj.get('name')
+                        action_params = simple_action_obj.get('params') if isinstance(simple_action_obj.get('params'), dict) else {}
+
+                        safety_selector = {
+                            "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"}}
+                                ]}
+                            ]
+                        }
+
+                        main_children = [{"type": "action", "name": action_name, "params": action_params}]
+                        if action_name != "land":
+                            main_children.append({"type": "action", "name": "land", "params": {"mode": "home"}})
+
+                        root_parallel = {
+                            "type": "Parallel",
+                            "name": "MissionWithSafety",
+                            "params": {"policy": "all_success"},
+                            "children": [
+                                {"type": "Sequence", "name": "MainTask", "children": main_children},
+                                safety_selector
+                            ]
+                        }
+                        pytree_dict = {"root": root_parallel}
+                    except jsonschema.ValidationError:
+                        # 不符合简单结构，按正常复杂验证继续
+                        pass
                 if _validate_pytree_with_schema(pytree_dict, self.schema):
                     logging.info("✅ 成功生成并验证了Pytree")
                     plan_id = str(uuid.uuid4())
@@ -614,8 +758,11 @@ class PyTreeGenerator:
                     pytree_dict['visualization_url'] = f"/static/{vis_filename}"
                     return pytree_dict
                 else:
+                    # 打印未通过验证的Pytree以便排查
+                    preview = json.dumps(pytree_dict, ensure_ascii=False, indent=2)
+                    logging.warning(f"❌ 未通过验证的Pytree（第 {attempt + 1}/3 次尝试）：\n{preview}")
                     logging.warning("生成的Pytree验证失败，正在重试...")
-            except (OpenAIError, json.JSONDecodeError) as e:
+            except OpenAIError as e:
                 logging.error(f"生成Pytree时发生错误: {e}")
         
         raise RuntimeError("在3次尝试后，仍未能生成一个有效的Pytree。")

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)。"}

tools/test_api.py

@@ -12,7 +12,7 @@ BASE_URL = "http://127.0.0.1:8000"
 ENDPOINT = "/generate_plan"
 
 # The user prompt we will send for the test
-TEST_PROMPT = "起飞后移动到学生宿舍上方搜索蓝色车辆，并进行打击"
+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():
     """

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}

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"
+}