A Fork of https://bitbucket.org/RopeRobotics/ur-interface/src. I reduced the code to a minimum needed for executing commands and added an option for real-time Control of a UR Robot.
To use the realtime control option, use the functions init_realtime_control() and set_realtime_pose().
init_realtime_control() uploads a program on the robot.
set_realtime_pose() uses standard UR - RTDE communication to send the next pose.
For a more detailed explanation see the file urScriptExt.py.
This code was tested on UR5 Firmware 3.2 and utilized in the reinforcement learning code for the paper Bézier Curve Based Continuous and Smooth Motion Planning for Self-Learning Industrial Robots