The method send is the simplest way to send commands to the URBI server. It take a String as parameter:

    int sleeptime = 50;

    client.send("motoron;");

    for (float val=0; val<=1; val+=0.05)
      client->send("neck.val = " + val + ";wait (" + sleeptime ");");

Some static functions are defined in the class liburbi.liburbi: 'getComma ()', 'getSemicolon()', 'getPipe()' and 'getParallel()' and they return the characters ',', ';', '|' and '&' respectively.