How to use the pybullet.getJointState function in pybullet

def set_kinematic_pose(u):
				if isinstance(u, zencad.assemble.kinematic_unit):
					info = p.getJointState(u.pybullet_base.boxId, u.simulation_hint2)
					pose=info[0]
					u.set_coord(pose + u.simulation_start_pose)
			zencad.assemble.for_each_unit(self.base_interactive, set_kinematic_pose)

def GetMotorAngles(self):
        """Get the eight motor angles at the current moment.

        Returns:
          Motor angles.
        """
        motor_angles = [
            p.getJointState(self.minitaur, motor_id)[0]
            for motor_id in self._motor_id_list
        ]
        motor_angles = np.multiply(motor_angles, self._motor_direction)
        return motor_angles

def getMotorVelocities(self):
    motorVelocities = []
    for i in range(self.nMotors):
      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
      motorVelocities.append(jointState[1])
    motorVelocities = np.multiply(motorVelocities, self.motorDir)
    return motorVelocities

def get_state(self):
        """Get state of joint
           Position is defined in real world scale """
        x, vx, _, trq = p.getJointState(self.bodies[self.body_index], self.joint_index)
        if self.joint_type == p.JOINT_PRISMATIC:
            x *= self.scale
            vx *= self.scale
        return x, vx, trq

buttonA = 0
	
	t5 = mult*time.clock()
		
	#if ((frameNr % 32) == 0):
	#	p.removeUserDebugItem(lines[i])
	#	for i in range (numLines):
	#		spacing = 0.01
	#		textPos = [.1-(i+1)*spacing,.1,0.011]
	#		text = "Demo:"+demos[currentDemo][0]+" Frame:"+str(frameNr)+"\nObject UID:"+objectInfo
	#		textUid = p.addUserDebugText(text,textColorRGB=[0,0,0], textSize = 0.02, textPosition = textPos,textOrientation = textOrn,parentObjectUniqueId=uiCube, parentLinkIndex = -1)
	#		lines[i] = textUid
	
	
	#keep the gripper centered/symmetric
	b = p.getJointState(pr2_gripper,2)[0]
	p.setJointMotorControl2(pr2_gripper, 0, p.POSITION_CONTROL, targetPosition=b, force=3)
	
	t6 = mult*time.clock()
	
	events = p.getVREvents()
	
	t7 = mult*time.clock()
	
	#print ("len events=",len(events))
	for e in (events):
		if e[CONTROLLER_ID] == uiControllerId:
			p.resetBasePositionAndOrientation(uiCube,e[POSITION], e[ORIENTATION])
			if (e[BUTTONS][32]&p.VR_BUTTON_WAS_TRIGGERED ):
				currentDemo = currentDemo+1
				if (currentDemo>=len(demos)):
					currentDemo = 0

def get_joint_state(body, joint):
    return JointState(*p.getJointState(body, joint, physicsClientId=CLIENT))

def getMotorAngles(self):
    motorAngles = []
    for i in range(self.nMotors):
      jointState = p.getJointState(self.quadruped, self.motorIdList[i])
      motorAngles.append(jointState[0])
    motorAngles = np.multiply(motorAngles, self.motorDir)
    return motorAngles

def GetMotorTorques(self):
        """Get the amount of torques the motors are exerting.

        Returns:
          Motor torques of all eight motors.
        """
        if self._accurate_motor_model_enabled or self._pd_control_enabled:
            return self._observed_motor_torques
        else:
            motor_torques = [
                p.getJointState(self.minitaur, motor_id)[3] for motor_id in self._motor_id_list ]
            motor_torques = np.multiply(motor_torques, self._motor_direction)
        return motor_torques

def _getGripper(self):
        return pb.getJointState(self.handle, self.left_finger)