How to change launcher icon

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http://askubuntu.com – Is there a way to customize a Lucid Lynx Launcher icon for various programs? There does not seem to be a way to do this using Create Launcher or Launcher properties. The application is not actually "installed" on the PC, the executable has just been copied. All I've been able to do so far is to add the command /home/t32/bin/pc_linux/t32marm -c /home/t32/config_usb.t32 to a generic Launcher icon using Create Launcher. (HowTos)