Go to the folder of your choice cd pico/experiments/ and create a main.py file that will contain your MicroPython script
Run rshell -p /dev/ttyACM0 --buffer-size 512 where ttyACM0 in the Pico adress on your machine. Run dmesg -w to see the devices connected to your computer, and therefore the address of your Pico.
Copy your local script to the pico by running cp main.py /pyboard/main.py
Close the rshell connection CTRL + x and unplug/plug your Pico
Run minicom -b 115200 -o -D /dev/ttyACM0 to read the serial communiction (replace ttyACM0 with your Pico address previously obtained)