I just reach into the hide and gently rub the side of my snakes, talking to them the entire time - the old "it's just me, come on out and play!"(as if they hear and understand - probably for my own reassurance!) and carefully pick them up from their midsection. I usually have no issues, especially with the ball but the boa can be in a mood, every now and then with a little hiss here and there. Once out the ball is calm but inquisitive whereas the boa is still tentative and sticks close to (attached to) me. I've never been struck and am careful how I approach my snakes but I don't really worry too much about it.
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