I was trying to do something similar and the closest I got was to try and use the client interfaces to connect to the robot and read the positions. I wasn’t well versed in it, so I tried sample here https://forum.universal-robots.com/t/sample-getrobotdata-real-time-client-reader-urcap/1195/4 . Unfortunately I couldn’t get it working, but you might have more luck than me.
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