diff --git a/ur_py_ctl/interpreter.py b/ur_py_ctl/interpreter.py
new file mode 100644
index 0000000000000000000000000000000000000000..01f57f5994e0f7ee435df8e55b95272f080a8e60
--- /dev/null
+++ b/ur_py_ctl/interpreter.py
@@ -0,0 +1,78 @@
+import socket
+
+UR_ADRESS = "marius.d.control.lth.se"
+UR_PORT = 30002
+UR_INTERPRET_PORT = 30020
+
+PC_ADRESS = "tatlin.control.lth.se"
+PC_PORT = 31000
+
+SETUP_INTERPRETER_SCRIPT = f"""
+def program():
+    socket_open("{PC_ADRESS}",{PC_PORT})
+    thread communication_thread():
+        while True:
+            torques=to_str(get_tcp_force())
+            socket_send_string(torques)
+            sync()
+        end
+        return False
+
+    end
+    interpreter_mode(clearQueueOnEnter = True, clearOnEnd = True)
+end
+
+program()
+""".encode()
+
+
+def run_interpreter():
+    # Setting up socket for sending and receiving.
+    with (
+        socket.create_connection((UR_ADRESS, UR_PORT), timeout=2) as send_socket,
+        socket.socket(socket.AF_INET, socket.SOCK_STREAM) as recv_socket,
+        socket.create_connection(
+            (UR_ADRESS, UR_INTERPRET_PORT), timeout=2
+        ) as interpret_socket,
+    ):
+
+        recv_socket.bind((PC_ADRESS, PC_PORT))
+
+        # Skapa ett program som ställer robotarmen i interpreter_mode()
+
+        # Öppnar socket
+
+        # Definierar tråd för skickade av krafter
+
+        send_socket.send(SETUP_INTERPRETER_SCRIPT)
+
+        recv_socket.listen(1)
+
+        _, client_address = recv_socket.accept()
+
+        print(f"Recieved accept from: {client_address}")
+
+        # UR5 är nu i interpreter_mode()
+
+        # Flera kommandon separeras med mellanslag.
+
+        interpret_socket.send(
+            "j_angles=get_actual_joint_positions() "
+            + "socket_send_string(to_str(j_angles))\n".encode()
+        )
+
+        joint_message = interpret_socket.recv(4096).decode()
+
+        print(joint_message)
+
+        # Avsluta interpret_mode()
+
+        interpret_socket.send("end_interpreter()\n".encode())
+
+        answer1 = interpret_socket.recv(4096)
+
+        print(answer1.decode())
+
+
+if __name__ == "__main__":
+    run_interpreter()