Launch Webots and load the soccer world (aibo_ers7_urbi_soccer.wbt).

Connect to the URBI server and use the following command:

unfreeze balltracking;

This will activate the balltracking of the ERS-7 robot. Now, you can use shift and the mouse to move the ball, the ERS-7 will move its head to follow the ball.

Launch Webots and load the supervisor world (aibo_ers7_urbi_supervisor.wbt).

It is crucial to understand that this world launches two URBI servers. The robot's server on the port 54001 and the supervisor server on the port 54002.

A supervisor is a kind of robot in Webots which can be used ton control the world. It is used, for example, in the Webots soccer example to give the ball's position.

If you create a supervisor node which is linked to an URBI controller, this will allow you to control the world through URBI.

Warning: don't forget to give different ports for each robot you add in a Webots world. If this is not the case, some controllers will not work.

After having started the simulation of the supervisor world, execute the following lines:

// Create a moving label.
l = new Label("URBI for Webots");
l.size = 0.04;
l.r = 125 sin:10s ampli:125,
l.x = 0.2 sin:10s ampli:0.1,

// Manipulate the floor.
fl = new ManipulateNode("FLOOR");
fl.ty = -1 sin:10s ampli:0.5,

The first part of the script creates a label and defines a movement with the sin modifier. The second part moves the floor.

For a complete documentation of those nodes, please read the next sections.