To connect to an URBI server, call urbiConnect with the name or IP address of the robot or computer running the Urbi server and optionnaly the port as the second parameter. This function returns a struct that identifies the connection and holds some information about the Urbi server:

>> myrobot = urbiConnect('',54000);

This connection can be closed with urbiDisconnect:

>> urbiDisconnect(myrobot);