Hi! I recently took over a position at siemens energy and we have two idle ur5e robots with gripper and wrist camera. I know nearly nothing about them. I have played a bit with the simulator, but nothing more. I am a python programmer and data analyst. What I would like to do, is send positions back and forth from the robot to a python program, as well as images from the wrist camera in real time and IO and gripper input/output. I figure I have to connect the robot to a computer or raspberry pi over ethernet cable? I see there is an urx python lib, i have heard mention of 'RTDE', i see people using modbus libraries etc. What is, in 2021, the recommended approach to achieve what I want?