Any way to play media in Plex directly without using GUI?

I love having Plex on my TiVo, however it takes a long time to launch Plex, wait for it to load, then select the media you want to play, etc. Using the iOS Plex app mitigates some of this but still can't launch the Plex app automatically. With this said, is there a way to launch media directly using scripts or some other methodology?

Thanks,
Chuck