The Urbi controller can take several options which modify it's behaviour.
You specify the controller options in the controllerArgs field of the Webots
world (.wbt) files.
The controllerArgs must be as follow:
controllerArgs [options] period [path1 path2 ...]
-
period: base URBI interval in milliseconds. You have to set the same period for
the Urbi controller and for the Webots worlds. The period in the webots world
is defined in the field "basicTimeStep".
-
[path ..] items are absolute or relative path elements searched in order
to find Urbi files when 'load' is called.
-
options:
-
-f : enable fast mode: the server will run as fast
as possible and emulate the period specified.
Don't set -f option when there is "runRealTime TRUE" in the Webots world.
Always set -f otherwise.
-
-l license_key : specify the license key to use
-
-p port : specify the tcp port URBI will listen to.