Create a new directory in your data directory (say foo). This directory should be named as your new robot.

Copy into your foo directory the content of the kiki directory.

Edit the kiki.ini file and rename it into your robot's name (i.e. foo.ini in this example).

Edit the URBI.INI file and change the line:

    load("kiki.ini");
    

by:

    load("foo.ini"); // The name should match with the file you've just renamed.
    

Copy the kiki world file (worlds/kiki_urbi.wbt should be copied into worlds/foo_urbi.wbt for example).

Edit your new world file and check that the field ControllerArgs contains the directory you've just created. It should be, for example: -p 54000 50 ../../../packages/urbi/data/foo. The Controller field should keep its value to urbi.