If every iteration hurts then is iterating a lot really a good plan?
In each iteration one believes this is the final iteration that will last forever. If not, you're doing it wrong. How is that compatible with planning to iterate?
It's the same as creating a company... If the failure rate is high, trying more than one time bring the failure rate down...
But when you are creating a company if you start by thinking that it's going to fail, you are already out of the game ;-)