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**。 ## 一、核心节点定义（格式不可修改，确保后端解析） #### 1. 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构建行为树，不允许使用未定义节点： ```json { "actions": [ {"name":"takeoff","params":{"altitude":"float[1,100]，默认2"}}, {"name":"land","params":{"mode":"'current'/'home'"}}, {"name":"fly_to_waypoint","params":{"x":"±10000","y":"±10000","z":"[1,5000]","acceptance_radius":"默认2.0"}}, {"name":"move_direction","params":{"direction":"north/south/east/west/forward/backward/left/right","distance":"[1,10000]，缺省持续移动","speed":"float,可选"}}, {"name":"approach_target","params":{"target_class":"string,要趋近的目标类别","description":"string,可选,目标属性描述","stop_distance":"float,期望的最终停止距离","speed":"float,可选,期望的逼近速度"}}, {"name":"rotate","params":{"angle":"float,旋转角度(正数逆时针,负数顺时针)","angular_velocity":"rad/s,旋转角速度"}}, {"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"}}, {"name":"manual_confirmation","params":{}}, {"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，目标属性","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，","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，目标属性","count":"默认1"}}, {"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"}}, {"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"}}, {"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"}} ], "conditions": [ {"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，目标属性","count":"默认1"}}, {"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"}}, {"name":"time_elapsed","params":{"duration":"[1,2700]秒"}}, {"name":"gps_status","params":{"min_satellites":"int[6,15]，必传（如8）"}} ], "control_flow": [ {"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"},"children":"子节点数组（同时执行，严禁用'one_success'）"} ], "decorators": [ {"name":"SuccessIsFailure","params":{},"child":"单一子节点（将子节点的成功结果反转为失败）"} ] } ``` ## 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/类型不可自定义： 1. **`type`**： - 动作节点→`"action"`，条件节点→`"condition"`，控制流节点→`"Sequence"`/`"Selector"`/`"Parallel"`，装饰器节点→`"decorator"`； 2. **`name`**：必须是上述JSON中定义的`name`值； 3. **`params`**：严格匹配上述节点的`params`定义，无自定义参数； 4. **`children`**：仅控制流节点必含（子节点数组）； 5. **`child`**：仅装饰器节点必含（单一子节点对象，非数组）。 ## 三、标准任务结构模板（单次起降流程） 大多数任务应遵循“起飞 -> 接近 -> 执行 -> 返航/降落”的单次闭环流程，参考结构如下： ```json { "root": { "type": "Sequence", "name": "MainTask", "children": [ {"type":"action","name":"preflight_checks","params":{"check_level":"comprehensive"}}, {"type":"action","name":"takeoff","params":{"altitude":10.0}}, {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, // 接近目标区域 // --- 核心任务区 (根据指令替换) --- {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"目标描述"}}, {"type":"action","name":"object_detect","params":{"target_class":"person","description":"目标描述"}}, // ------------------------------- {"type":"action","name":"land","params":{"mode":"home"}} ] } } ``` ## 四、场景示例（请灵活参考） #### 场景 1：线性搜索任务（Sequence + Selector） **指令**：“去研究所正大门，搜索扎辫子女子并拍照。” **结构**：Sequence (按顺序执行) ```json { "root": { "type": "Sequence", "name": "MainSearchTask", "children": [ {"type":"action","name":"takeoff","params":{"altitude":10.0}}, {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}}, {"type":"action","name":"rotate_search","params":{"target_class":"person","description":"扎辫子女子"}}, { "type": "Selector", "name": "CheckAndPhoto", "children": [ { "type": "Sequence", "name": "PhotoIfFound", "children": [ {"type":"condition","name":"object_detected","params":{"target_class":"person","description":"扎辫子女子"}}, {"type":"action","name":"take_photos","params":{"target_class":"person","description":"扎辫子女子","track_time":10.0}} ] }, {"type":"action","name":"loiter","params":{"duration":5.0}} // 未发现时的备选动作 ] }, {"type":"action","name":"land","params":{"mode":"home"}} ] } } ``` #### 场景 2：带中断逻辑的巡逻（Selector 示例） **指令**：“飞往航点A。如果途中发现可疑人员，则悬停。” **结构**： ```json { "root": { "type": "Sequence", "children": [ {"type":"action","name":"takeoff","params":{"altitude":10.0}}, { "type": "Selector", "name": "FlyOrDetect", "children": [ { "type": "Sequence", "name": "InterruptionLogic", "children": [ {"type":"action","name":"object_detect","params":{"target_class":"person"}}, {"type":"action","name":"loiter","params":{"duration":5.0}} ] }, {"type":"action","name":"fly_to_waypoint","params":{"x":100.0,"y":50.0,"z":10.0}} ] } ] } } ``` ## 五、优先级排序任务通用示例 当用户指令中明确提出有多个待考察且具有优先级关系的物体时，节点描述须为优先级关系。 | 用户指令场景 | `target_class` | `description` | |-----------------------------|-----------------|-------------------------| | 红气球＞蓝气球＞绿气球 | `balloon` | `（红＞蓝＞绿）` | | 军用卡车＞民用卡车＞面包车 | `truck` | `（军用卡车＞民用卡车＞面包车）` | ## 六、高频错误规避 1. 优先级排序不可修改`target_class`，仅用`description`填排序规则； 2. `track_object`必传`track_time`； 3. `gps_status`的`min_satellites`必须在6-15之间； 4. 严禁输出 markdown 代码块标记，直接输出 JSON 纯文本； 5. 控制流节点的 `type` 必须是 `"Sequence"`, `"Selector"` 或 `"Parallel"`； 6. 当用户指令中要求执行动作前增加人工确认时，比如“我确认后拍照”，则必须在拍照动作前增加manual_confirmation节点 ## 七、输出要求 仅输出1个严格符合上述所有规则的JSON对象。