def __init__(self, robot, execute, dt=8e-3):
self._execute = execute
self._robot = robot
self._dt = dt
# 1: position-controller
if execute == 1:
self._joint_controller = JointPositionController("denso")
# 2: trajectory-controller (via bCapServier)
elif execute == 2:
assert False, "This option is depreciated"
# self._trajectory_controller = bCap_JointTrajectoryController("bcap", 2)
# 3: trajectory-controller (via denso_control/trajectory controller)
elif execute == 3:
self._trajectory_controller = JointTrajectoryController("denso")
else:
logger.info("No hardware controller loaded.")
