my code:
Code: Select all
config = self.simIK.findConfig(self.ikEnv, self.ikGroup, self.ikJointHandles, 0.65, 0.1, [1, 1, 1, 0.1], self.configuration_validation_callback)
Code: Select all
def configuration_validation_callback(self, config):
print('!!!!!!!!!!!')
tmp = self.get_config(self.simJointHandles)
self.set_config(self.simJointHandles, config, 0)
# res = sim.checkCollision(roboCollection, sim.handle_all)
res = self.sim.checkCollision(self.roboCollection, self.collisionCollection)
self.set_config(self.simJointHandles, tmp, 0)
print(res)
return res[0] == 0
Will this problem be fixed? Or should I try another way to realize it?
The error:
Code: Select all
Traceback (most recent call last):
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\coppeliasim_zmqremoteapi_client\__init__.py", line 70, in _send
rawReq = cbor.dumps(req)
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\cbor\cbor.py", line 221, in dumps
return dumps_dict(ob, sort_keys=sort_keys)
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\cbor\cbor.py", line 170, in dumps_dict
parts.append(dumps(v, sort_keys=sort_keys))
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\cbor\cbor.py", line 218, in dumps
return dumps_array(ob, sort_keys=sort_keys)
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\cbor\cbor.py", line 154, in dumps_array
parts = [dumps(x, sort_keys=sort_keys) for x in arr]
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\cbor\cbor.py", line 154, in <listcomp>
parts = [dumps(x, sort_keys=sort_keys) for x in arr]
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\cbor\cbor.py", line 228, in dumps
raise Exception("don't know how to cbor serialize object of type %s", type(ob))
Exception: ("don't know how to cbor serialize object of type %s", <class 'method'>)
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "D:\RL\Climb_project\function_module.py", line 206, in <module>
test_climb.climb2it([targets[0]])
File "D:\RL\Climb_project\function_module.py", line 150, in climb2it
config = self.simIK.findConfig(self.ikEnv, self.ikGroup, self.ikJointHandles, 0.65, 0.1, [1, 1, 1, 0.1],
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\coppeliasim_zmqremoteapi_client\__init__.py", line 127, in <lambda>
setattr(ret, k, lambda *a, func=f'{name}.{k}': self.call(func, a))
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\coppeliasim_zmqremoteapi_client\__init__.py", line 95, in call
self._send({'func': func, 'args': args})
File "D:\Users\zzm\anaconda3\envs\robotic_grasp\lib\site-packages\coppeliasim_zmqremoteapi_client\__init__.py", line 72, in _send
raise Exception("illegal argument " + str(err)) #__EXCEPTION__
Exception: illegal argument ("don't know how to cbor serialize object of type %s", <class 'method'>)