Send Custom Script File
SUMMARY
Send Custom Script File reads a .urscript file from disk and transmits its contents to the robot controller over the RTDE control channel.
Use this skill when you have a pre-written URScript program saved as a file and want to execute it on the robot.
SUPPORTED ROBOTS
This skill is currently supported on Universal Robots only. Calling this method on other robot brands will raise a NotImplementedError.
The Skill
robot.send_custom_script_file(file_path="/path/to/program.urscript")The Code
Example: Send a URScript File to the Robot
Connect to the robot, send a .urscript file, and disconnect.
from loguru import logger
from telekinesis.synapse.robots.manipulators import universal_robots
robot_ip = "192.168.1.2" # replace with your robot's IP
script_file = "/path/to/program.urscript"
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
robot.send_custom_script_file(script_file)
logger.success(f"Custom script file '{script_file}' sent to robot.")
# Disconnect
robot.disconnect()The Explanation of the Code
send_custom_script_file reads the URScript file at file_path, then sends its full contents to the robot controller over RTDE. The controller executes the program asynchronously. This is equivalent to calling send_custom_script with the file contents as a string, but handles file I/O internally. The call returns True on success.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
file_path | str | — | Absolute or relative path to the .urscript file to send. |
Return Value
| Type | Description |
|---|---|
bool | True if the script was accepted by the controller, False otherwise. |
Where to Use the Skill
- Pre-written programs — Execute complex multi-step URScript programs maintained as files
- Version-controlled scripts — Keep URScript programs under source control and send them at runtime
- Large programs — Avoid inline string handling for long URScript programs
When Not to Use the Skill
Do not use Send Custom Script File when:
- The script is a short inline snippet — use Send Custom Script instead
- You need to register a named function — use Send Custom Script Function instead
- You want to set the persistent main control script — use Set Custom Script File instead