Quickstart Tutorial: Python API for Real Actuator via USB

This page walks you through running a Real Actuator connected via USB, and controlling it via Python scripting using PULSAR HRI's Python API

👣 Step-By-Step Guide

Make sure your actuator is set up and connected via USB, as per the Quickstart Tutorial: Set up Real Actuator and connect via USB

Tip

You are of course free to run this straight from the terminal and installing libraries globally, but for a better experience we do recommend to:

use an IDE such as Visual Studio Code
up a virtual environment using tools such as venv or pipenv or poetry or uv

Install the PULSAR HRI Python API (more details about it here)
```
pip install --upgrade pcp_api
```
Check USB communication via the CLI tool (more details about it here):
```
pulsar-cli scan
```
You should see your actuator's ID and connection info.

Run the following script, the actuator should rotate at a constant speed for 5 seconds

from pcp_api import PCP_over_USB, PulsarActuator
from time import sleep

# Auto-detect the USB port and create the adapter
port = PCP_over_USB.get_port()
adapter = PCP_over_USB(port)

# Connect to actuator at address 0 (USB)
actuator = PulsarActuator(adapter, 0)
actuator.connect()

# Set control mode and target speed
actuator.change_mode(PulsarActuator.Mode.SPEED)
actuator.change_setpoint(1.0)  # rad/s

# Start and run for 5 seconds
actuator.start()
sleep(5)
actuator.disconnect()
adapter.close()

Success

You’ve just sent your first command via the PULSAR Python API! Now you can explore doing much more by:

checking out more example scripts starting with this one
trying other communication methods beyond direct USB enabling the control of multiple actuators, such as CAN
get intimate with the Python API code reference starting from understanding the actuator classes and methods
If you're interested in simulating PULSAR actuators without needing hardware, explore how to create Virtual Actuators with the AUGUR Digital Twin.

Question

Need help or something doesn’t work? Head over to the Support page: we’ve got your back.