You’re not alone. Any time I get to a problem and the solution is “use the RTDE” I just sigh and give up. I don’t have the time currently to figure out how to make it work. I’ve gone down exactly the same path you have. For what it’s worth, you can write the registers using UR script, which you can send via java by using the primary/secondary interface.
This post has the relevant information and the link to the git repo. It’s probably not the most ideal, as the sockets can lag the robot if went multiple times rapidly, but it’s the only way I’ve found to do certain actions. If you ever figure out how to get that RTDE to work in Java, let me know.
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