This was mildly painful... A quick start provided below.

The Python pyvisa library works pretty well. This is a frontend, so a backend needs to be installed. pyvisa-py seems to work, with a combination of pyusb to interact with USB.

pip3 install pyvisa pyvisa-py pyusb

Make sure to set appropriate permissions to allow user to talk to USB devices.

/etc/udev/rules.d/99-usb.rules

SUBSYSTEM=="usb", GROUP="users", MODE="0660"

Reload rules:

sudo udevadm control --reload-rules && sudo udevadm trigger

import pyvisa
rm = pyvisa.ResourceManager("@py")
rm.list_resources()