{
  "timestamp": "2026-02-03T22:45:59.912722",
  "request": "无人机当前在地面，到飞行场地，发现未带帽子的飞近后拍照。",
  "response": {
    "root": {
      "type": "action",
      "name": "fly_to_waypoint",
      "params": {
        "x": 0.0,
        "y": 0.0,
        "z": 0.0,
        "acceptance_radius": 2.0
      }
    },
    "plan_id": "700ad50b-9526-459c-b3dd-9565262f2c82",
    "visualization_url": "/static/py_tree.png",
    "final_prompt": "=== System Prompt ===\n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。\n\n输出要求（必须遵守）：\n- 只输出一个JSON对象，不要任何解释或多余文本。\n- JSON结构：\n{\"root\":{\"type\":\"action\",\"name\":\"<action_name>\",\"params\":{...}}}\n- root节点必须是action类型节点，不能是控制流节点。\n\n示例：\n- “起飞到10米” → {\"root\":{\"type\":\"action\",\"name\":\"takeoff\",\"params\":{\"altitude\":10.0}}}\n- “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}}}\n- “飞机自检” → {\"root\":{\"type\":\"action\",\"name\":\"system_checks\",\"params\":{\"check_level\":\"comprehensive\"}}}\n\n—— 可用节点定义——\n```json\n{\n  \"actions\": [\n    {\"name\":\"takeoff\",\"params\":{\"altitude\":\"float[1,100]，默认2\"}},\n    {\"name\":\"land\",\"params\":{\"mode\":\"'current'/'home'\"}},\n    {\"name\":\"fly_to_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"acceptance_radius\":\"默认2.0\"}},\n    {\"name\":\"fly_sequence\",\"params\":{\"waypoints\":\"list[dict] (e.g. [{'x':10,'y':20,'depth':5}, ...]；depth可选，不填则保持当前高度)\",\"coordinate_frame\":\"'global'/'local_enu'（global:经纬度, local_enu:以起飞点为原点的东南天坐标系）\",\"speed\":\"float,可选\"}},\n    {\"name\":\"move_direction\",\"params\":{\"direction\":\"north/south/east/west/forward/backward/left/right/up/down\",\"distance\":\"[1,10000]，缺省持续移动\",\"speed\":\"float,可选\"}},\n    {\"name\":\"approach_target\",\"params\":{\"target_class\":\"string,要趋近的目标类别\",\"description\":\"string,可选,目标属性描述\",\"stop_distance\":\"float,期望的最终停止距离\",\"speed\":\"float,可选,期望的逼近速度\"}},\n    {\"name\":\"rotate\",\"params\":{\"angle\":\"float,无人机自身旋转角度(正数逆时针,负数顺时针)\",\"angular_velocity\":\"rad/s,旋转角速度\"}},\n    {\"name\":\"rotate_search\",\"params\":{\"target_class\":\"string,要搜寻的目标类别\",\"description\":\"string,可选,目标属性描述\",\"step_angle\":\"float,可选,每一步旋转的角度\",\"total_rotation\":\"float,可选,总共旋转搜索的角度\"}},\n    {\"name\":\"manual_confirmation\",\"params\":{}},\n    {\"name\":\"loiter\",\"params\":{\"duration\":\"[1,600]秒/until_condition:可选\"}},\n    {\"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,garbage\",\"description\":\"可选，\",\"count\":\"默认1\"}},\n    {\"name\":\"strike_target\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n    {\"name\":\"battle_damage_assessment\",\"params\":{\"target_class\":\"同object_detect\",\"assessment_time\":\"[5,60]，默认15\"}},\n    {\"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，目标属性\",\"count\":\"默认1\"}},\n    {\"name\":\"track_object\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"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\"}},\n    {\"name\":\"deliver_payload\",\"params\":{\"payload_type\":\"string\",\"release_altitude\":\"[2,100]默认5\"}},\n    {\"name\":\"system_checks\",\"params\":{\"check_level\":\"basic/comprehensive\"}},\n    {\"name\":\"return_emergency\",\"params\":{\"reason\":\"string，此节点仅用于【无明确目的地】的立即返航。若指令包含“回到xx地”、“去xx地”（即使包含“紧急”二字），**严禁**使用此节点，必须使用fly_to_waypoint\"}},\n    {\"name\":\"take_photos\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"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\"}}\n  ],\n  \"conditions\": [\n    {\"name\":\"at_waypoint\",\"params\":{\"x\":\"±10000\",\"y\":\"±10000\",\"z\":\"[1,5000]\",\"tolerance\":\"默认3.0\"}},\n    {\"name\":\"object_detected\",\"params\":{\"target_class\":\"同object_detect（必传）\",\"description\":\"可选，目标属性\",\"count\":\"默认1\"}},\n    {\"name\":\"target_destroyed\",\"params\":{\"target_class\":\"同object_detect\",\"description\":\"可选，目标属性\",\"confidence\":\"[0.5,1.0]默认0.8\"}},\n    {\"name\":\"time_elapsed\",\"params\":{\"duration\":\"[1,2700]秒\"}},\n    {\"name\":\"gps_status\",\"params\":{\"min_satellites\":\"int[6,15]，必传（如8）\"}}\n  ]\n}\n```\n\n—— 参数约束——\n- takeoff.altitude: [1, 100]\n- fly_to_waypoint.z: [1, 5000]\n- fly_to_waypoint.x,y: [-10000, 10000]\n- search_pattern.radius: [5, 1000]\n- move_direction.distance: [1, 10000]\n- 若参考知识提供坐标，必须使用并裁剪到约束范围内\n\n=== User Prompt ===\n无人机当前在地面，到飞行场地，发现未带帽子的飞近后拍照。\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结果：\n{\"property\": \"location\", \"information\": {\"name\": \"飞行场地\", \"coordinates\": {\"x\": 0, \"y\": 0, \"z\": 0}}}\n\n{\"property\": \"rules\", \"information\": {\"name\": \"紧急返航\", \"description\": \"当指令中要求紧急返航到某地时，必须使用fly_to_waypoint节点，严禁使用return_emergency节点。\"}}\n\n{\"property\": \"location\", \"information\": {\"name\": \"大楼外围四个点东南天坐标系坐标\", \"coordinates\": {\"A\": {\"x\": -24.0, \"y\": 241.8, \"z\": 0}, \"B\": {\"x\": -108.5, \"y\": 241.8, \"z\": 0}, \"C\": {\"x\": -108.5, \"y\": 289.8, \"z\": 0}, \"D\": {\"x\": -24.0, \"y\": 292.8, \"z\": 0}}}}\n---"
  }
}