Quickstart Tutorial: Python API for a Real Actuator via USB

This page walks you through running a real actuator connected via USB and controlling it with Python using PULSAR HRI's Python API.

👣 Step-by-Step Guide

1. Make sure your actuator is set up and connected via USB, as described in the Quickstart Tutorial: Set Up a Real Actuator and Connect via USB.

Tip

You can run this directly from the terminal and install libraries globally, but for a better experience we recommend the following:

• Use an IDE such as Visual Studio Code

• Set up a virtual environment using tools such as venv or pipenv or poetry or uv

1. Install the PULSAR HRI Python API:

   pip install --upgrade pcp_api
   

2. Check USB communication using the CLI tool:

   pulsar-cli scan
   

   You should see your actuator's ID and connection information.

3. 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 using the PULSAR Python API! You can now do much more with it:

• Checking out more example scripts, starting with the simple actuator example.

• Trying communication methods beyond direct USB that enable control of multiple actuators, such as PULSAR CAN Communication.

• Becoming familiar with the Python API code reference, starting with the actuator classes and methods.

• If you're interested in simulating PULSAR actuators without 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.