Set Custom Script File
SUMMARY
Set Custom Script File configures a .urscript file as the persistent main control script on the robot controller. Unlike Send Custom Script File, which executes a program once, this skill sets the script that the controller will use as its main control program going forward.
Use this skill when deploying a custom URScript control loop as the primary runtime program.
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.set_custom_script_file(file_path="/path/to/control_program.urscript")The Code
Example: Set a Custom Control Script File
Connect to the robot, set the persistent control script, 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/control_program.urscript"
robot = universal_robots.UniversalRobotsUR10E()
# Connect
robot.connect(ip=robot_ip)
robot.set_custom_script_file(script_file)
logger.success(f"Custom control script file set to '{script_file}'.")
# Disconnect
robot.disconnect()The Explanation of the Code
set_custom_script_file sets file_path as the main control script on the robot controller. This is distinct from send_custom_script_file, which executes a program one time. Once set, the controller uses this script as its primary control program. Returns None on completion.
How to Tune the Parameters
| Parameter | Type | Default | Description |
|---|---|---|---|
file_path | str | — | Absolute or relative path to the .urscript file to use as the main control script. |
Return Value
| Type | Description |
|---|---|
None | Returns when the script file has been set. |
Where to Use the Skill
- Custom control loops — Deploy a URScript control program as the controller's main runtime
- Factory applications — Install a production URScript program on startup
When Not to Use the Skill
Do not use Set Custom Script File when:
- You want to execute a program once — use Send Custom Script File instead
- You want to send an inline snippet — use Send Custom Script instead