In this chapter, the method to build a custom layout for a different robot is explained. A good understanding of the objects in URBI in useful and the reading of the URBI tutorial is advised (available at http://www.gostai.com/doc.php).

There are three kind of devices provided by the Mindstorms NXT server : motors, sensors and other devices. There is one type of motor called Servo. There is four types of sensors: Switch, SoundSensor, UltraSonicSensorand LightSensor. Two other devices are available: Battery and Beeper. A complete description of these devices is available in Appendix A, Available UObject Devices

Writing a layout entails instancing particular objects from the devices above.