Pass a finite max_distance in MoveUntilTouch

Author: Michael Koval

src/prpy/base/wam.py

@@ -242,13 +242,19 @@ def ClearTrajectoryStatus(manipulator):
         if not manipulator.simulated:
             manipulator.controller.SendCommand('ClearStatus')
 
-    def MoveUntilTouch(manipulator, direction, distance, max_distance=float('+inf'),
+    def MoveUntilTouch(manipulator, direction, distance, max_distance=2.,
                        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
@@ -258,6 +264,7 @@ def MoveUntilTouch(manipulator, direction, distance, max_distance=float('+inf'),
         @param **kw_args planner parameters
         @return felt_force flag indicating whether we felt a force.
         """
+
         # 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 ])