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.")