v0.1.5

robogauge/tasks/gauge/goals/velocity_goals.py

@@ -17,8 +17,11 @@ from robogauge.utils.helpers import class_to_dict
 from robogauge.utils.logger import logger
 
 class MaxVelocityGoal(BaseGoal):
+    name = "max_velocity"
+
     """ Goal class for maximizing velocity commands. """
     def __init__(self, max_velocity: RobotConfig.commands, cmd_duration: float = 5, **kwargs):
+        super().__init__()
         kwargs.pop('enabled', None)
         if kwargs:
             logger.warning(f"Unused kwargs in MaxVelocityGoal: {kwargs}")
@@ -28,14 +31,18 @@ class MaxVelocityGoal(BaseGoal):
         self.last_reset_time = 0.0
 
         self.goals = []
-        for key, min_max in self.max_velocity.items():
-            if min_max is None: continue
-            for value in min_max:
+        for key in ['lin_vel_x', 'lin_vel_y', 'lin_vel_z', 'ang_vel_roll', 'ang_vel_pitch', 'ang_vel_yaw']:
+            if self.max_velocity.get(key) is None: continue
+            for value in self.max_velocity[key]:
                 if value != 0:
                     self.goals.append(VelocityGoal(**{key: value}))
         
         self.count = 0
         self.total = len(self.goals)
+        if len(self.goals) == 0:
+            logger.warning("MaxVelocityGoal initialized with no valid velocity commands.")
+            return
+        self.sub_name = str(self.goals[0])
 
     def is_reset(self, sim_data: SimData) -> bool:
         if sim_data.sim_time - self.last_reset_time >= self.cmd_duration:
@@ -48,10 +55,8 @@ class MaxVelocityGoal(BaseGoal):
         if self.count >= self.total:
             return None
         self.current_goal = self.goals[self.count]
+        self.sub_name = str(self.current_goal)
         return GoalData(
             goal_type='velocity',
             velocity_goal=self.current_goal
         )
-    
-    def __repr__(self):
-        return f"{self.current_goal}"