zip argument #2 must support iteration again

[shenlirobot]

I think this problem is similar to https://github.com/personalrobotics/herbpy/issues/35 I am using the block_sorting master. In simulation, I did:

• distanceInMeters = 1 robot.base.Forward(distanceInMeters)
• robot.base.rotate(pi/2)
• robot_pose_in_world = ... robot.base.PlanToBasePose(robot_pose_in_world)

But they all get the similar error, which is "TypeError: zip argument #2 must support iteration"

In [1]: robot.base.Forward(1.0)
[INFO] [prpy.base.robot:robot.py:393]:do_execute: Post-processing path with 2 waypoints.
[WARNING] [prpy.base.robot:robot.py:300]:do_postprocess: Trajectory contains affine DOFs. Any regular DOFs will be ignored.
[INFO] [prpy.base.robot:robot.py:403]:do_execute: Post-processing took 0.107 seconds and produced a path with 2 waypoints and a duration of 2.500 seconds.
---------------------------------------------------------------------------
TypeError                                 Traceback (most recent call last)
/home/shen/Research/catkin_ws/src/herbpy/scripts/console.py in <module>()
----> 1 robot.base.Forward(1.0)

/home/shen/Research/catkin_ws/src/herbpy/src/herbpy/herbbase.pyc in Forward(self, meters, execute, timeout, **kwargs)
     54         """
     55         if self.simulated or not execute:
---> 56             return MobileBase.Forward(self, meters, execute=execute, timeout=timeout,  **kwargs)
     57         else:
     58             with prpy.util.Timer("Drive segway"):

/home/shen/Research/catkin_ws/src/prpy/src/prpy/base/mobilebase.pyc in Forward(self, meters, execute, direction, **kw_args)
     94         path = create_affine_trajectory(self.robot, [ start_pose, goal_pose ])
     95         if execute:
---> 96             return self.robot.ExecutePath(path, **kw_args)
     97         else:
     98             return path

/home/shen/Research/catkin_ws/src/prpy/src/prpy/base/robot.pyc in ExecutePath(self, path, defer, executor, **kwargs)
    418             return wrap_future(executor.submit(do_execute))
    419         elif defer is False:
--> 420             return do_execute()
    421         else:
    422             raise ValueError('Received unexpected value "{:s}" for defer.'.format(str(defer)))

/home/shen/Research/catkin_ws/src/prpy/src/prpy/base/robot.pyc in do_execute()
    405 
    406             with Timer() as timer:
--> 407                 exec_traj = self.ExecuteTrajectory(traj, defer=False, **kwargs)
    408             SetTrajectoryTags(exec_traj, {Tags.EXECUTION_TIME: timer.get_duration()}, append=True)
    409             return exec_traj

/home/shen/Research/catkin_ws/src/herbpy/src/herbpy/herbrobot.pyc in ExecuteTrajectory(self, traj, *args, **kwargs)
    228             manipulator.ClearTrajectoryStatus()
    229 
--> 230         value = super(HERBRobot, self).ExecuteTrajectory(traj, *args, **kwargs)
    231 
    232         for manipulator in active_manipulators:

/home/shen/Research/catkin_ws/src/prpy/src/prpy/base/robot.pyc in ExecuteTrajectory(self, traj, defer, timeout, period, **kwargs)
    460         # Check that the current configuration of the robot matches the
    461         # initial configuration specified by the trajectory.
--> 462         if not util.IsAtTrajectoryStart(self, traj):
    463             raise exceptions.TrajectoryAborted(
    464                 'Trajectory started from different configuration than robot.')

/home/shen/Research/catkin_ws/src/prpy/src/prpy/util.pyc in IsAtTrajectoryStart(robot, trajectory)
    702 
    703     # Check deviation in each DOF, using OpenRAVE's SubtractValue function.
--> 704     dof_infos = zip(dof_indices, traj_values, robot_values, dof_resolutions)
    705     for dof_index, traj_value, robot_value, dof_resolution in dof_infos:
    706         # Look up the Joint and Axis of the DOF from the robot.

TypeError: zip argument #2 must support iteration

[jeking04]

You are correct about this being similar to #35. It is also a duplicate of prpy issue #153. It has been fixed in a branch and should be merged by the end of the week :)

[mkoval]

@jeking04 Is this fixed in master now?

[mkoval]

Fixed in https://github.com/personalrobotics/prpy/pull/188.