The "URBI Doc" file contains anything you need to know about your robot. This is the URBI Doc file for the Aibo ERS7, ERS210 and ERS220. You will find here a list and a description of all available devices and robot specific functions.

See http://www.urbiforge.com for news & updates.

This is not a tutorial. Please, check the URBI Tutorial for an introduction to URBI.