TypeError: ‘RobotTrajectory‘ object is not iterable

学习moveit时，运行moveit_ik_demo.py遇到这个错误。

 INFO] [1652548120.846725790]: Loading robot model 'wx250s'...
[ INFO] [1652548120.847350604]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1652548122.038082571, 5567.029000000]: Ready to take commands for planning group interbotix_arm.
[ INFO] [1652548122.038127601, 5567.029000000]: Replanning: yes
Traceback (most recent call last):
  File "moveit_ik_demo.py", line 76, in <module>
    MoveItIkDemo()
  File "moveit_ik_demo.py", line 61, in __init__
    plan_success, traj, planning_time, error_code = arm.plan()
TypeError: 'RobotTrajectory' object is not iterable

将代码中的

plan_success, traj, planning_time, error_code = arm.plan()

改为：

traj = arm.plan()

即可。

ros版本: melodic

ubuntu版本: 18.04

关键看电脑用的是pyhton2还是3。

相关内容（和他说的解决办法反着来）：

moveit报错！'tuple' object has no attribute 'serialize' - 古月居