补全auto_navigate_move_towards函数，函数的输入包含drone_id，方向和在该方向上的预期移动距离。在遇到障碍物时，需要越过障碍物，并继续移动。最终到达的位置和初始位置相比，在指定的方向上移动的距离应当不小于预期移动距离。 @tool def auto_navigate_move_towards(input_json: str) -> str: try: params = json.loads(input_json) if isinstance(input_json, str) else input_json pass 现在先补全函数，可以调用`get_obstacles`函数获取障碍物信息。该函数返回一个列表。obstacles的种类有4类，是point、circle、polygon、ellipse。这个列表形如： [ { "id": "bb07b327", "name": "Point Obstacle 1", "type": "point", "position": { "x": 609.0, "y": 459.0, "z": 0.0 }, "description": "", "radius": 30.0, "vertices": [], "width": null, "length": null, "height": 0.0, "area": 2827.4333882308138, "created_at": 1766327750.018749, "last_updated": 1766327750.018749 }, { "id": "fd0760b8", "name": "Point Obstacle 2", "type": "point", "position": { "x": 896.0, "y": 241.0, "z": 0.0 }, "description": "", "radius": 6.0, "vertices": [], "width": null, "length": null, "height": 0.0, "area": 113.09733552923255, "created_at": 1766327750.0221481, "last_updated": 1766327750.0221481 }, { "id": "1d817ce2", "name": "Point Obstacle 3", "type": "point", "position": { "x": 809.0, "y": 14.0, "z": 0.0 }, "description": "", "radius": 8.0, "vertices": [], "width": null, "length": null, "height": 0.0, "area": 201.06192982974676, "created_at": 1766327750.025595, "last_updated": 1766327750.025595 }, { "id": "2b38acd5", "name": "Circle Obstacle 1", "type": "circle", "position": { "x": 438.0, "y": 465.0, "z": 0.0 }, "description": "", "radius": 40.0, "vertices": [], "width": null, "length": null, "height": 0.0, "area": 5026.548245743669, "created_at": 1766327750.019903, "last_updated": 1766327750.019903 }, { "id": "fa67aa30", "name": "Circle Obstacle 2", "type": "circle", "position": { "x": 431.0, "y": 605.0, "z": 0.0 }, "description": "", "radius": 55.0, "vertices": [], "width": null, "length": null, "height": 0.0, "area": 9503.317777109125, "created_at": 1766327750.0267, "last_updated": 1766327750.0267 }, { "id": "845b6b36", "name": "Polygon Obstacle 1", "type": "polygon", "position": { "x": 686.0, "y": 669.0, "z": 0.0 }, "description": "", "radius": null, "vertices": [ { "x": 611.0, "y": 594.0 }, { "x": 761.0, "y": 594.0 }, { "x": 761.0, "y": 744.0 }, { "x": 611.0, "y": 744.0 } ], "width": null, "length": null, "height": 0.0, "area": 22500.0, "created_at": 1766327750.021056, "last_updated": 1766327750.021056 }, { "id": "8603630e", "name": "Polygon Obstacle 2", "type": "polygon", "position": { "x": 312.0, "y": 232.0, "z": 0.0 }, "description": "", "radius": null, "vertices": [ { "x": 247.0, "y": 167.0 }, { "x": 377.0, "y": 167.0 }, { "x": 377.0, "y": 297.0 }, { "x": 247.0, "y": 297.0 } ], "width": null, "length": null, "height": 0.0, "area": 16900.0, "created_at": 1766327750.023377, "last_updated": 1766327750.023377 }, { "id": "b32c509b", "name": "Polygon Obstacle 3", "type": "polygon", "position": { "x": 691.0, "y": 344.0, "z": 0.0 }, "description": "", "radius": null, "vertices": [ { "x": 625.0, "y": 278.0 }, { "x": 757.0, "y": 278.0 }, { "x": 757.0, "y": 410.0 }, { "x": 625.0, "y": 410.0 } ], "width": null, "length": null, "height": 0.0, "area": 17424.0, "created_at": 1766327750.027871, "last_updated": 1766327750.027871 }, { "id": "b6a5ec7c", "name": "Polygon Obstacle 4", "type": "polygon", "position": { "x": 237.0, "y": 555.0, "z": 0.0 }, "description": "", "radius": null, "vertices": [ { "x": 181.0, "y": 499.0 }, { "x": 293.0, "y": 499.0 }, { "x": 293.0, "y": 611.0 }, { "x": 181.0, "y": 611.0 } ], "width": null, "length": null, "height": 0.0, "area": 12544.0, "created_at": 1766327750.0289862, "last_updated": 1766327750.0289862 }, { "id": "9bf135c3", "name": "Ellipse Obstacle 1", "type": "ellipse", "position": { "x": 475.0, "y": 156.0, "z": 0.0 }, "description": "", "radius": null, "vertices": [], "width": 46.0, "length": 34.0, "height": 0.0, "area": 4913.450910214437, "created_at": 1766327750.0245, "last_updated": 1766327750.0245 } ] 对于高度不为0的obstacles，如果无人机的最大可达高度大于obstacle的高度，就能够飞跃。对于不能飞跃的和高度为0的obstacles，需要绕路。 该函数只需为无人机确定一个要到达的目标坐标点。该坐标点需要与障碍物保持一定的距离。确定好目标坐标点后，调用auto_navigate_to函数 ``` def auto_navigate_to(input_json: str) -> str: """ Plan an obstacle-avoiding path using analytic geometry for precise collision detection. Input should be a JSON string with: - drone_id: The ID of the drone (required) - x: Target X coordinate in meters (required) - y: Target Y coordinate in meters (required) - z: Target Z coordinate (altitude) in meters (required) Example: {{"drone_id": "drone-001", "x": 100.0, "y": 50.0, "z": 20.0}} """ ``` 即可将无人机从当前位置导航到目标位置，并避开所有障碍物。 现在请补全auto_navigate_move_towards函数。