From 657b1a8a6d49fec3f0ff39469f0ba6edbfaf12ca Mon Sep 17 00:00:00 2001
From: Chris Dellin <cdellin@gmail.com>
Date: Sun, 2 Aug 2015 18:26:27 -0400
Subject: [PATCH 1/2] added call to planner superclasses to avoid weird
 recursion bug

---
 src/prpy/planning/base.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/src/prpy/planning/base.py b/src/prpy/planning/base.py
index f829393..7756aae 100644
--- a/src/prpy/planning/base.py
+++ b/src/prpy/planning/base.py
@@ -119,12 +119,14 @@ def get_planning_method_names(self):
 
 class BasePlanner(Planner):
     def __init__(self):
+        super(BasePlanner, self).__init__()
         self.env = openravepy.Environment()
 
 class MetaPlanner(Planner):
     __metaclass__ = abc.ABCMeta
 
     def __init__(self):
+        super(MetaPlanner, self).__init__()
         self._planners = list()
 
     def has_planning_method(self, method_name):
@@ -216,6 +218,7 @@ def meta_wrapper(*args, **kw_args):
 
 class Sequence(MetaPlanner):
     def __init__(self, *planners):
+        super(Sequence, self).__init__()
         self._planners = planners
 
     def __str__(self):
@@ -259,6 +262,7 @@ def plan(self, method, args, kw_args):
 
 class Ranked(MetaPlanner):
     def __init__(self, *planners):
+        super(Ranked, self).__init__()
         self._planners = planners
 
     def __str__(self):
@@ -328,6 +332,7 @@ def call_planner(index, planner):
 
 class FirstSupported(MetaPlanner):
     def __init__(self, *planners):
+        super(FirstSupported, self).__init__()
         self._planners = planners
 
     def __str__(self):
@@ -352,6 +357,7 @@ def plan(self, method, args, kw_args):
 
 class MethodMask(MetaPlanner):
     def __init__(self, planner, methods):
+        super(MethodMask, self).__init__()
         self._methods = set(methods)
         self._planner = planner
         self._planners = [planner]

From 02e38bdd1d7c91483c2f158d0ed324bb5308f100 Mon Sep 17 00:00:00 2001
From: Chris Dellin <cdellin@gmail.com>
Date: Sun, 2 Aug 2015 18:26:57 -0400
Subject: [PATCH 2/2] make sure to cast things to floats (not sure why, but
 this bit me at some point)

---
 src/prpy/serialization.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/prpy/serialization.py b/src/prpy/serialization.py
index b411b1e..139fc82 100644
--- a/src/prpy/serialization.py
+++ b/src/prpy/serialization.py
@@ -190,8 +190,8 @@ def serialize_transform(t):
     from openravepy import quatFromRotationMatrix
 
     return {
-        'position': list(t[0:3, 3]),
-        'orientation': list(quatFromRotationMatrix(t[0:3, 0:3])),
+        'position': list(map(float,t[0:3, 3])),
+        'orientation': list(map(float,quatFromRotationMatrix(t[0:3, 0:3]))),
     }
 
 # Deserialization.