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The stretch_body repository includes Python packages that allow a developer to interact with the hardware of the Stretch RE1 and RE2 robots. These packages are:

Package Description
hello-robot-stretch-body Python library to interface with Stretch
hello-robot-stretch-body-tools Useful commandline tools for using Stretch

Python2 version of packages can be installed by:

pip2 install -U hello-robot-stretch-body
pip2 install -U hello-robot-stretch-body-tools
Python3 version of packages can be installed by:

pip3 install -U hello-robot-stretch-body
pip3 install -U hello-robot-stretch-body-tools

See for documentation on using Stretch. In particular, see the Stretch Body Tutorials for additional information on using these packages.

Testing and Development

See Stretch Body's README and Stretch Body Commandline Tool's README for information on testing/developing these packages.


See the changelog for information on what changed with each release.


Each subdirectory contains a file that applies to the directory's contents. This software is intended for use with the Stretch RE1 and RE2 mobile manipulators, which are robots produced and sold by Hello Robot Inc. For further information including inquiries about dual licensing, please contact Hello Robot Inc.

All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.