And also for @kadan2 , I don’t work with Raspberry Pi, but I do use another computer to connect to the robot, and it runs Python scripts, so I assume it would be the same code? Here there are some options you can try:
1. Send the URScript program to the robot
There is a special TCP/IP interface on the robot that takes URScript messages when the robot is set on remote control. Here is the UR documentation, here is some basic tutorial, and here is how to send a full URScript program.
2. Have a program running on the robot, request point
Have the robot running a program on its own and use the XML-RPC on the robot side to request the point whenever it needs to move. The example on my previous answer is literally just that.