urbiimage: Display the images taken by the camera in realtime, or save a snapshot to a file.

urbisound: Play the sound from the robot's microphone on the computer speaker, or record it to a file.

urbisendsound: Play a wav file from the computer, on the robot, converting it if neccesary.

urbiping: Send the URBI command 'ping' at regular intervals to measure latency.

urbibandwidth: Measure the effective bandwidth.

urbisend: Send a set of commands contained in a file to the robot.

urbirecord: Record all the movements of the robot to a file.

urbiplay: Play a file recorded with urbirecord, or dump it in a human-readable form.

urbimirror: Copy the movements of a robot on an other robot. Same as piping urbirecord to urbiplay, but with less latency.

urbiscale: Change the speed of a file recorded with urbirecord.

urbireverse: Reverse a file recorded with urbirecord.

urbicycle: Detects and extract cycles in a file recorded with urbirecord.

urbiballtrackinghead: Port of the OPEN-R ballTrackingHead example to URBI.