# SoftBank Robotics documentation What's new in NAOqi 2.8?

# Self-collision avoidance API

NAOqi Motion - Overview | API

## Method list

class `ALMotionProxy`

- `ALMotionProxy::setCollisionProtectionEnabled`
- `ALMotionProxy::getCollisionProtectionEnabled`

bool `ALMotionProxy::``setCollisionProtectionEnabled`(const std::string& ChainName, const bool& Enable)

  Enable/Disable Anti-collision protection of the arms of the robot.

  Parameters: | ChainName – The chain name {“Arms”, “LArm” or “RArm”}. Enable – Activate or deactivate the anti-collision of the desired Chain.
  Returns: | A bool which return always true.

  `almotion_setCollisionProtectionEnabled.py`

      #! /usr/bin/env python
      # -*- encoding: UTF-8 -*-

      """Example: Use setCollisionProtectionEnabled Method"""

      import qi
      import argparse
      import sys

      def main(session):
          """
          This example uses the setCollisionProtectionEnabled method.
          """
          # Get the service ALMotion.

          motion_service  = session.service("ALMotion")

          # Example showing how to activate "Arms" anticollision
          chainName = "Arms"
          enable  = True
          isSuccess = motion_service.setCollisionProtectionEnabled(chainName, enable)
          print "Anticollision activation on arms: " + str(isSuccess)

          # Example showing how to deactivate "LArm" anticollision
          chainName = "LArm"
          enable = False
          isSuccess = motion_service.setCollisionProtectionEnabled(chainName, enable)
          print "isSuccess: ", isSuccess

      if __name__ == "__main__":
          parser = argparse.ArgumentParser()
          parser.add_argument("--ip", type=str, default="127.0.0.1",
                              help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
          parser.add_argument("--port", type=int, default=9559,
                              help="Naoqi port number")

          args = parser.parse_args()
          session = qi.Session()
          try:
              session.connect("tcp://" + args.ip + ":" + str(args.port))
          except RuntimeError:
              print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
                     "Please check your script arguments. Run with -h option for help.")
              sys.exit(1)
          main(session)

bool `ALMotionProxy::``getCollisionProtectionEnabled`(const std::string& ChainName)

  Allow to know if the collision protection is activated on the given chain.

  Parameters: | ChainName – The chain name {“LArm” or “RArm”}.
  Returns: | Return true is the collision protection of the given Arm is activated.

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