minor: Log wheel radius on startup

upkie · Oct 11, 2024 · 7274d40 · 7274d40
1 parent 9bf630f
commit 7274d40
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/pink_balancer/whole_body_controller.py b/pink_balancer/whole_body_controller.py
@@ -35,7 +35,6 @@ def __init__(
             turning_gain_scale: Additional gain scale added when the robot
                 is turning to keep the legs stiff in spite of the ground
                 pulling them apart.
-            visualize: If true, open a MeshCat visualizer on the side.
         """
         self.gain_scale = clamp(gain_scale, 0.1, 2.0)
         self.height_controller = HeightController(visualize=visualize)

diff --git a/run_agent.py b/run_agent.py
@@ -90,9 +90,10 @@ def run(
     controller = WholeBodyController(visualize=args.visualize)
     spine_config = upkie.config.SPINE_CONFIG.copy()
     wheel_radius = controller.wheel_controller.wheel_radius
-    wheel_odometry_config = spine_config["wheel_odometry"]
-    wheel_odometry_config["signed_radius"]["left_wheel"] = +wheel_radius
-    wheel_odometry_config["signed_radius"]["right_wheel"] = -wheel_radius
+    wheel_odometry = spine_config["wheel_odometry"]
+    wheel_odometry["signed_radius"]["left_wheel"] = +wheel_radius
+    wheel_odometry["signed_radius"]["right_wheel"] = -wheel_radius
+    logging.info(f"Wheel radius: {wheel_radius} m")
     try:
         run(spine, spine_config, controller)
     except KeyboardInterrupt: