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You're always welcome to implement your own goal checker plugin, this is why this is a plugin and not tied to a specific controller plugin implementation (so you can edit this for edge case situations).

You're right that you'd probably run into an issue if you're trying to just do laps. You have two options:

• A) Submit a PR, which I would merge, to add the path object to the goal checker plugin. Then you could use this information to build a custom goal checker plugin that meets your needs. This is the preferred option. We've already had discussions to enable this in the past, I'm not sure exactly why it hasn't been completed yet. Right now's a great time to do this before the Galactic release as well.

• B) Create a dummy goal checker plugin in the controller server and instead use a goal checker behavior tree node to check for completion at the navigation server level. This would involve a custom BT and goal checker plugin.