More fixes to MoveUntilTouch. Seems to be back to working now.

Author: jeking04

src/prpy/base/wam.py

@@ -305,7 +305,7 @@ def MoveUntilTouch(manipulator, direction, distance, max_distance=None,
 
             try:
                 with robot.CreateRobotStateSaver(Robot.SaveParameters.JointMaxVelocityAndAcceleration):
-                    v1 = robot.GetVelocityLimits()
+                    vl = robot.GetDOFVelocityLimits()
                     manipulator.SetVelocityLimits(velocity_limit_scale*vl, 0.5)
                     robot.ExecutePath(path)
                 return False