Deprecate default max_distance in MoveUntilTouch.

Author: Michael Koval

src/prpy/base/wam.py

@@ -28,13 +28,17 @@
 # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
+import logging
 import numpy
 import openravepy
+import warnings
 from manipulator import Manipulator
 from prpy.clone import Clone
 from .. import util
 from .. import exceptions
 
+logger = logging.getLogger('wam')
+
 class WAM(Manipulator):
     def __init__(self, sim, owd_namespace,
                  iktype=openravepy.IkParameterization.Type.Transform6D):
@@ -242,19 +246,14 @@ def ClearTrajectoryStatus(manipulator):
         if not manipulator.simulated:
             manipulator.controller.SendCommand('ClearStatus')
 
-    def MoveUntilTouch(manipulator, direction, distance, max_distance=2.,
+    def MoveUntilTouch(manipulator, direction, distance, max_distance=None,
                        max_force=5.0, max_torque=None, ignore_collisions=None, **kw_args):
         """Execute a straight move-until-touch action.
         This action stops when a sufficient force is is felt or the manipulator
         moves the maximum distance. The motion is considered successful if the
         end-effector moves at least distance. In simulation, a move-until-touch
         action proceeds until the end-effector collids with the environment.
 
-        The maximum distance defaults to a value that is higher than the size
-        of the reachable workspace of the WAM, which is roughly a sphere with a
-        radius of one meter. This means that, by default, the arm will move as
-        far as possible while obeying the straight-line constraint.
-
         @param direction unit vector for the direction of motion in the world frame
         @param distance minimum distance in meters
         @param max_distance maximum distance in meters
@@ -265,6 +264,13 @@ def MoveUntilTouch(manipulator, direction, distance, max_distance=2.,
         @return felt_force flag indicating whether we felt a force.
         """
 
+        if max_distance is None:
+            max_distance = 1.
+            warnings.warn(
+                'MoveUntilTouch now requires the "max_distance" argument.'
+                ' This will be an error in the future.',
+                DeprecationWarning)
+
         # TODO: Is ignore_collisions a list of names or KinBody pointers?
         if max_torque is None:
             max_torque = numpy.array([100.0, 100.0, 100.0 ])