JSON protocol:

Self-Collision Safety Detection Command Set

The Gen 3 robotic arm supports self-collision safety detection. With the self-collision safety detection is enabled, it can be ensured that all parts of the robotic arm will not collide with each other during trajectory planning, teaching and other motions.

Set the enabling state of the self-collision safety detection set_self_collision_enable

• Input parameter

Parameter	Type	Description
set_self_collision_enable	string	Set the enabling state of the self-collision safety detection.

• Output parameter

Parameter	Type	Description
set_state	bool	true: success, false: failure.

• Code demo

Input

Set the current virtual wall parameters.

{"command":"set_self_collision_enable","set_enable":false}

Output

{
    "command": "set_self_collision_enable",
    "set_state": true
}

Get the enabling state of the self-collision safety detection get_self_collision_enable

• Input parameter

Parameter	Type	Description
get_self_collision_enable	string	Get the enabling state of the self-collision safety detection.

• Output parameter

Parameter	Type	Description
enable_state	bool	true: enable, false: disable.

• Code demo

Input

Set the current virtual wall parameters.

{"command":"get_self_collision_enable"}

Output

{
    "command": "get_self_collision_enable",
    "enable_state": false
}