diff --git a/doc/news/DM-47363.feature.rst b/doc/news/DM-47363.feature.rst
new file mode 100644
index 000000000..d6669a1ac
--- /dev/null
+++ b/doc/news/DM-47363.feature.rst
@@ -0,0 +1 @@
+Add new `set_dof.py`` to set absolute DOF position
\ No newline at end of file
diff --git a/python/lsst/ts/standardscripts/data/scripts/maintel/set_dof.py b/python/lsst/ts/standardscripts/data/scripts/maintel/set_dof.py
new file mode 100755
index 000000000..f3c48b07d
--- /dev/null
+++ b/python/lsst/ts/standardscripts/data/scripts/maintel/set_dof.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# This file is part of ts_standardscripts
+#
+# Developed for the LSST Telescope and Site Systems.
+# This product includes software developed by the LSST Project
+# (https://www.lsst.org).
+# See the COPYRIGHT file at the top-level directory of this distribution
+# for details of code ownership.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+import asyncio
+
+from lsst.ts.standardscripts.maintel import SetDOF
+
+asyncio.run(SetDOF.amain())
diff --git a/python/lsst/ts/standardscripts/maintel/__init__.py b/python/lsst/ts/standardscripts/maintel/__init__.py
index 9017f90d7..27c01a834 100644
--- a/python/lsst/ts/standardscripts/maintel/__init__.py
+++ b/python/lsst/ts/standardscripts/maintel/__init__.py
@@ -39,6 +39,7 @@
from .offset_mtcs import *
from .open_mirror_covers import *
from .point_azel import *
+from .set_dof import *
from .setup_mtcs import *
from .standby_comcam import *
from .standby_mtcs import *
diff --git a/python/lsst/ts/standardscripts/maintel/set_dof.py b/python/lsst/ts/standardscripts/maintel/set_dof.py
new file mode 100644
index 000000000..d574dc055
--- /dev/null
+++ b/python/lsst/ts/standardscripts/maintel/set_dof.py
@@ -0,0 +1,461 @@
+# This file is part of ts_standardscripts
+#
+# Developed for the LSST Telescope and Site Systems.
+# This product includes software developed by the LSST Project
+# (https://www.lsst.org).
+# See the COPYRIGHT file at the top-level directory of this distribution
+# for details of code ownership.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+__all__ = ["SetDOF"]
+
+import typing
+
+import numpy as np
+import yaml
+from lsst.ts import salobj
+from lsst.ts.observatory.control.maintel.mtcs import MTCS
+from lsst.ts.observatory.control.utils.enums import DOFName
+
+STD_TIMEOUT = 30
+
+class SetDOF(salobj.BaseScript):
+ """Set absolute positions DOF to the main telescope, either bending
+ mode or hexapod position.
+
+ Parameters
+ ----------
+ index : `int`
+ Index of Script SAL component.
+
+ Notes
+ -----
+ **Checkpoints**
+ "Setting DOF..." - The DOF absolute position is being applied.
+
+ """
+
+ def __init__(self, index) -> None:
+ super().__init__(
+ index=index,
+ descr="Set absolute degrees of freedom position of the main telescope.",
+ )
+
+ # Create the MTCS object
+ self.mtcs = None
+
+ # Create the DOF vector
+ self.dofs = np.zeros(len(DOFName))
+
+ async def configure_tcs(self) -> None:
+ """Handle creating MTCS object and waiting for remote to start."""
+ if self.mtcs is None:
+ self.log.debug("Creating MTCS.")
+ self.mtcs = MTCS(
+ domain=self.domain,
+ log=self.log,
+ )
+ await self.mtcs.start_task
+ else:
+ self.log.debug("MTCS already defined, skipping.")
+
+ @classmethod
+ def get_schema(cls) -> typing.Dict[str, typing.Any]:
+ schema_yaml = """
+ $schema: http://json-schema.org/draft-07/schema#
+ $id: https://github.com/lsst-ts/ts_standardscripts/maintel/SetDOF.yaml
+ title: SetDOF v1
+ description: Configuration for SetDOF Script.
+ type: object
+ properties:
+ dofs:
+ type: array
+ description: >-
+ Defines a 50-dimensional vector for all DOFs, combining M2,
+ Camera, M1M3, and M2 bending modes. This overrides individual DOF inputs.
+ First 5 elements for M2, next 5 for Camera, next 20 for M1M3 bending modes,
+ last 20 for M2 bending modes. Units: microns or arcsec.
+ items:
+ type: number
+ minItems: 50
+ maxItems: 50
+ M2_dz:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 hexapod in the z direction.
+ Units in um.
+ default: 0.0
+ M2_dx:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 hexapod in the x direction.
+ Units in um.
+ default: 0.0
+ M2_dy:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 hexapod in the y direction.
+ Units in um.
+ default: 0.0
+ M2_rx:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 hexapod in rx.
+ Units in arcsec.
+ default: 0.0
+ M2_ry:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 hexapod in ry.
+ Units in arcsec.
+ default: 0.0
+ Cam_dz:
+ type: number
+ description: >-
+ Defines the offset applied to the Camera hexapod in
+ the z direction. Units in um.
+ default: 0.0
+ Cam_dx:
+ type: number
+ description: >-
+ Defines the offset applied to the Camera hexapod
+ in the x direction. Units in um.
+ default: 0.0
+ Cam_dy:
+ type: number
+ description: >-
+ Defines the offset applied to the Camera hexapod in
+ the y direction. Units in um.
+ default: 0.0
+ Cam_rx:
+ type: number
+ description: >-
+ Defines the offset applied to the Camera hexapod in rx.
+ Units in arcsec.
+ default: 0.0
+ Cam_ry:
+ type: number
+ description: >-
+ Defines the offset applied to the Camera hexapod in ry.
+ Units in arcsec.
+ default: 0.0
+ M1M3_B1:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 1.
+ Units in um.
+ default: 0.0
+ M1M3_B2:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 2.
+ Units in um.
+ default: 0.0
+ M1M3_B3:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 3.
+ Units in um.
+ default: 0.0
+ M1M3_B4:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 4.
+ Units in um.
+ default: 0.0
+ M1M3_B5:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 5.
+ Units in um.
+ default: 0.0
+ M1M3_B6:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 6.
+ Units in um.
+ default: 0.0
+ M1M3_B7:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 7.
+ Units in um.
+ default: 0.0
+ M1M3_B8:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 8.
+ Units in um.
+ default: 0.0
+ M1M3_B9:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 9.
+ Units in um.
+ default: 0.0
+ M1M3_B10:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 10.
+ Units in um.
+ default: 0.0
+ M1M3_B11:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 11.
+ Units in um.
+ default: 0.0
+ M1M3_B12:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 12.
+ Units in um.
+ default: 0.0
+ M1M3_B13:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 13.
+ Units in um.
+ default: 0.0
+ M1M3_B14:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 14.
+ Units in um.
+ default: 0.0
+ M1M3_B15:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 15.
+ Units in um.
+ default: 0.0
+ M1M3_B16:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 16.
+ Units in um.
+ default: 0.0
+ M1M3_B17:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 17.
+ Units in um.
+ default: 0.0
+ M1M3_B18:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 18.
+ Units in um.
+ default: 0.0
+ M1M3_B19:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 19.
+ Units in um.
+ default: 0.0
+ M1M3_B20:
+ type: number
+ description: >-
+ Defines the offset applied to the M1M3 bending mode 20.
+ Units in um.
+ default: 0.0
+ M2_B1:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 1.
+ Units in um.
+ default: 0.0
+ M2_B2:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 2.
+ Units in um.
+ default: 0.0
+ M2_B3:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 3.
+ Units in um.
+ default: 0.0
+ M2_B4:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 4.
+ Units in um.
+ default: 0.0
+ M2_B5:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 5.
+ Units in um.
+ default: 0.0
+ M2_B6:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 6.
+ Units in um.
+ default: 0.0
+ M2_B7:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 7.
+ Units in um.
+ default: 0.0
+ M2_B8:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 8.
+ Units in um.
+ default: 0.0
+ M2_B9:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 9.
+ Units in um.
+ default: 0.0
+ M2_B10:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 10.
+ Units in um.
+ default: 0.0
+ M2_B11:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 11.
+ Units in um.
+ default: 0.0
+ M2_B12:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 12.
+ Units in um.
+ default: 0.0
+ M2_B13:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 13.
+ Units in um.
+ default: 0.0
+ M2_B14:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 14.
+ Units in um.
+ default: 0.0
+ M2_B15:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 15.
+ Units in um.
+ default: 0.0
+ M2_B16:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 16.
+ Units in um.
+ default: 0.0
+ M2_B17:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 17.
+ Units in um.
+ default: 0.0
+ M2_B18:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 18.
+ Units in um.
+ default: 0.0
+ M2_B19:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 19.
+ Units in um.
+ default: 0.0
+ M2_B20:
+ type: number
+ description: >-
+ Defines the offset applied to the M2 bending mode 20.
+ Units in um.
+ default: 0.0
+ ignore:
+ description: >-
+ CSCs from the group to ignore in status check. Name must
+ match those in self.group.components, e.g.; hexapod_1.
+ type: array
+ items:
+ type: string
+ additionalProperties: false
+ """
+ return yaml.safe_load(schema_yaml)
+
+ async def configure(self, config) -> None:
+ """Configure script.
+
+ Parameters
+ ----------
+ config : `types.SimpleNamespace`
+ Script configuration, as defined by `schema`.
+ """
+
+ # Configure tcs and camera
+ await self.configure_tcs()
+
+ if hasattr(config, "dofs"):
+ self.dofs = config.dofs
+ else:
+ # Loop through properties and assign their values to the vector
+ for key, value in vars(config).items():
+ self.dofs[getattr(DOFName, key)] = value
+
+ for comp in getattr(config, "ignore", []):
+ if comp not in self.mtcs.components_attr:
+ self.log.warning(
+ f"Component {comp} not in CSC Group. "
+ f"Must be one of {self.mtcs.components_attr}. Ignoring."
+ )
+ else:
+ self.log.debug(f"Ignoring component {comp}.")
+ setattr(self.mtcs.check, comp, False)
+
+ def set_metadata(self, metadata) -> None:
+ """Set script metadata.
+
+ Parameters
+ ----------
+ metadata : `lsst.ts.salobj.base.ScriptMetadata`
+ Script metadata.
+ """
+ metadata.duration = 10
+
+ async def assert_feasibility(self) -> None:
+ """Verify that the telescope is in a feasible state to
+ execute the script.
+ """
+
+ await self.mtcs.assert_all_enabled()
+
+ async def run(self) -> None:
+ """Run script."""
+ # Assert feasibility
+ await self.assert_feasibility()
+
+ await self.checkpoint("Setting DOF...")
+ current_dof = await self.mtcs.rem.mtaos.evt_degreeOfFreedom.aget(timeout=STD_TIMEOUT)
+ dof_data = self.mtcs.rem.mtaos.cmd_offsetDOF.DataType()
+ for i, dof_absolute in enumerate(self.dofs):
+ dof_data.value[i] = dof_absolute - current_dof.aggregatedDoF[i]
+ await self.mtcs.rem.mtaos.cmd_offsetDOF.start(data=offset_dof_data)
diff --git a/tests/test_maintel_set_dof.py b/tests/test_maintel_set_dof.py
new file mode 100644
index 000000000..bac695c37
--- /dev/null
+++ b/tests/test_maintel_set_dof.py
@@ -0,0 +1,115 @@
+# This file is part of ts_standardscripts
+#
+# Developed for the LSST Telescope and Site Systems.
+# This product includes software developed by the LSST Project
+# (https://www.lsst.org).
+# See the COPYRIGHT file at the top-level directory of this distribution
+# for details of code ownership.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program. If not, see <https://www.gnu.org/licenses/>.
+
+import random
+import types
+import unittest
+
+import numpy as np
+from lsst.ts import standardscripts
+from lsst.ts.observatory.control.maintel.mtcs import MTCS, MTCSUsages
+from lsst.ts.observatory.control.utils.enums import DOFName
+from lsst.ts.standardscripts.maintel import SetDOF
+
+random.seed(47) # for set_random_lsst_dds_partition_prefix
+
+
+class TestSetDOF(
+ standardscripts.BaseScriptTestCase, unittest.IsolatedAsyncioTestCase
+):
+ async def basic_make_script(self, index):
+ self.script = SetDOF(index=index)
+
+ # Mock the MTCS
+ self.script.mtcs = MTCS(
+ domain=self.script.domain,
+ intended_usage=MTCSUsages.DryTest,
+ log=self.script.log,
+ )
+ self.script.mtcs.rem.mtaos = unittest.mock.AsyncMock()
+ self.script.mtcs.rem.mtaos.cmd_offsetDOF.attach_mock(
+ unittest.mock.Mock(
+ return_value=types.SimpleNamespace(value=np.zeros(len(DOFName)))
+ ),
+ "DataType",
+ )
+ self.script.mtcs.rem.mtaos.configure_mock(
+ **{
+ "evt_degreeOfFreedom.aget": self.get_current_dof,
+ }
+ )
+
+ self.script.mtcs.assert_all_enabled = unittest.mock.AsyncMock()
+
+ return (self.script,)
+
+ def get_current_dof():
+ return np.zeros(len(DOFName))
+
+ async def test_configure(self) -> None:
+ # Try configure with minimum set of parameters declared
+ async with self.make_script():
+ config_dofs = {"M2_dz": 0.2, "Cam_dy": 0.3, "M1M3_B1": 0.5, "M2_B14": 0.7}
+
+ await self.configure_script(**config_dofs)
+
+ dofs = np.zeros(len(DOFName))
+ for key, value in config_dofs.items():
+ dofs[getattr(DOFName, key)] = value
+
+ assert all(self.script.dofs == dofs)
+
+ async def test_configure_with_dofs_vector(self) -> None:
+ async with self.make_script():
+ dofs = [0] * len(DOFName)
+ config_dofs = {
+ "M2_dz": 0.2,
+ "Cam_dy": 0.3,
+ "M1M3_B1": 0.5,
+ "M2_B14": 0.7,
+ "dofs": dofs,
+ }
+
+ await self.configure_script(**config_dofs)
+
+ assert self.script.dofs == dofs
+
+ async def test_run(self) -> None:
+ # Start the test itself
+ async with self.make_script():
+ config_dofs = {"M2_dz": 0.2, "Cam_dy": 0.3, "M1M3_B1": 0.5, "M2_B14": 0.7}
+
+ await self.configure_script(**config_dofs)
+
+ # Run the script
+ await self.run_script()
+
+ self.script.mtcs.rem.mtaos.cmd_offsetDOF.DataType.assert_called()
+ self.script.mtcs.rem.mtaos.cmd_offsetDOF.start.assert_awaited_once()
+
+ async def test_executable(self) -> None:
+ scripts_dir = standardscripts.get_scripts_dir()
+ script_path = scripts_dir / "maintel" / "apply_dof.py"
+ await self.check_executable(script_path)
+
+
+if __name__ == "__main__":
+ unittest.main()