Stretch Body

The stretch_body package provides a low level Python API to the Hello Robot Stretch hardware. This package comes pre-installed on Stretch robots. Tutorials for using this package can be found on the docs.

Installing

This package comes pre-installed on Stretch robots. To install or upgrade to a stable Stretch Body for Python3, run:

$ python3 -m pip install --upgrade hello-robot-stretch-body

To install or upgrade to a pre-release of Stretch Body for Python3, run:

$ python3 -m pip install --upgrade --pre hello-robot-stretch-body

Please report feedback on the Issue Tracker or the Forum.

Running tests

There are a number of unit, functional, and performance tests within the test/ folder, separated into test suites by different files. Suites are separated by a device or functionality within Stretch Body that is being tested.

In Python3, run python3 -m unittest test.test_<suite-name>.

For example, to run the stretch_body.robot.Robot functional tests, run:

$ git clone https://github.com/hello-robot/stretch_body.git
$ cd stretch_body/body
$ python3 -m unittest test.test_robot

Developing

The source code for Stretch Body resides within the stretch_body/ folder. You can install Stretch Body as "editable", and directly edit the source code to test changes.

In Python3, run python3 -m pip install -e .

For example, to test changes to stretch_body.robot.Robot, run:

$ python3 -m pip uninstall hello-robot-stretch-body # ensure previous Stretch Body installations are removed
$ git clone https://github.com/hello-robot/stretch_body.git
$ cd stretch_body/body
$ python3 -m pip install -e .

Now, make desired edits to the stretch_body/body/stretch_body/robot.py file. Software using Stretch Body is now using the modified stretch_body.robot.Robot class.

Deploying

Increment the version number and run the deploy.sh script. Verify the new release is reflected on PyPI.