URBI Doc for Webots
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URBI Doc for Webots

(book compiled from Revision 389M)

Rémi Humbert

This document is released under the Attribution-NonCommercial-NoDerivs 2.0 Creative Commons licence (http://creativecommons.org/licenses/by-nc-nd/2.0/deed.en).

Table of Contents

Installation

Linux

RPM based distributions
Debian base distributions
Manual setup (from a tarball)

MacOs

Manual install

Evaluation mode

License setup

Urbi licensing with "webots.key" license
Urbi licensing with USB dongle

Send commands with a client software

Telnet

Load URBI programs at controller start

By adding the file as argument of the URBI controller
By loading the file in URBI.ini

3. Built-in robots and worlds

Understanding the URBI for Webots hierarchy

Worlds special features

The soccer world (balltracking)
The supervisor world

Robots specific functions

Aibo specific functions

4. Making your own URBI for Webots controllers

Create from an existing world
Customize
Urbi controller options

5. Available UObjects

Robot devices UObjects

Accelerometer

Constructor
Attributes

Camera

Constructor
Attributes

Differential Wheels

Constructor
Attributes

Distance Sensor

Constructor
Attributes

Emitter

Constructor
Functions
Attributes

Gps

Constructor
Attributes

Gripper

Constructor
Attributes

Keyboard

Constructor
Attributes

Led

Constructor
Attributes

Light Sensor

Constructor
Attributes

Plunger

Constructor
Attributes

Receiver

Constructor
Functions
Attributes

RobotName

Constructor
Attributes

Servo

Constructor
Attributes

Touch Sensor

Constructor
Attributes

Supervisor devices UObjects

Label

Constructor
Attributes

Manipulate Node

Constructor
Attributes

Simulation Controller

Constructor
Functions

Other UObjects

UBinaryReader

Constructor
Functions
Attributes

6. Develop your own UObjects

Code your UObjects

Compile

Windows
Linux and MacOs

Use the generated executable

A. Copyright

B. JPEG License

C. OpenSSL License

List of Tables

2.1. Which package should I use?
3.1. Directory hierarchy
3.2. Standard robot's files
3.3. Standard Aibo's functions and variables.

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		Chapter 1. Introduction