code: def get_control_mode(self, ids):
          
          to_get_ids = [id for id in ids if id not in self._known_mode]
          limits = self.get_angle_limit(to_get_ids, convert=False)
          modes = ['wheel' if limit == (0, 0) else 'joint' for limit in limits]
  
          self._known_mode.update(zip(to_get_ids, modes))
  
          return tuple(self._known_mode[id] for id in ids)
docs: Gets the mode ('joint' or 'wheel') for the specified motors.