# Comments about Collision Avoidance

**URL:** <https://forum.hello-robot.com/t/comments-about-collision-avoidance/278>\
**Category:** Ask\
**Created:** [August 11, 2021, 12:25am UTC](https://forum.hello-robot.com/t/comments-about-collision-avoidance/278 "2021-08-11T00:25:00Z")\
**Posts on this page:** 1\
**Showing post:** 4

<div class="post-metadata">

**Author:** ![aedsinger](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/aedsinger/32/6_2.png) [@aedsinger](https://forum.hello-robot.com/u/aedsinger)\
**Post date:** [August 26, 2021, 11:54pm UTC](https://forum.hello-robot.com/t/comments-about-collision-avoidance/278/4 "2021-08-26T23:54:44Z")

</div>

An update! We’ve just released Stretch Body v0.1.6 that integrates your feedback on the collision avoidance functionality (along with various bug-fixes). These updates can be installed

```auto
>>$ pip2 install hello-robot-stretch-body -U --no-cache-dir
>>$ pip2 install hello-robot-stretch-body-tools -U --no-cache-dir
>>$ pip2 install hello-robot-stretch-factory -U --no-cache-dir
>>$ pip2 install hello-robot-stretch-tool-share -U --no-cache-dir

```

Unfortunately we had to change the API a bit. Previously you might call:

```auto
lift.set_soft_motion_limit(min_val,max_val). 

```

Now we support setting individual limits by:

```auto
lift.set_soft_motion_limit_min(min_val)
lift.set_soft_motion_limit_max(max_val)

```

Stretch Body also now distinguishes between Collision limits and User limits. In this way the two constraints can co-exist without overwriting each other. The most conservative joint range between the two is applied). This is further explained in the code [here](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/lift.py#L58).

Thanks for the feedback and let us know if there are any questions!

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