You can read or write any URBI variable by creating an UVar passing the variable name to the constructor. Change the value by writting any compatible type to the UVar, and access the value by casting the UVar to any compatible type. However, some care must be taken in remote mode: changes on the variable coming from urbi code or an other module are only visible if you have called UNotifyChange on this variable. Otherwise the UVar is not synchronized. Alternatively, in remote mode, you can get the value on demand by calling UNotifyOnRequest (variable, function). Then to get an updated value, call the requestValue method on the UVar, and your callback function will be called as soon as the value is available. You can read and write all the URBI properties of an UVar by reading and writing the appropriate UProp object in the UVar.