1 Introduction
1.1 Urbi and UObjects
1.2 Urbi and urbiscript
1.3 Genesis
1.4 Outline
2 Getting Started
I Urbi and UObjects User Manual
3 The UObject API
3.1 Compiling UObjects
3.1.1 Compiling by hand
3.1.2 The umake-* family of tools
3.1.3 Using the Visual C ++ Wizard
3.2 Creating a class, binding variables and functions
3.3 Creating new instances
3.4 Binding functions
3.4.1 Simple binding
3.4.2 Multiple bindings
3.4.3 Asynchronous binding
3.5 Notification of a variable change or access
3.6 Data-flow based programming: exchanging UVars
3.7 Data-flow based programming: InputPort
3.7.1 Customizing data-flow links
3.8 Timers
3.9 The special case of sensor/effector variables
3.10 Using Urbi variables
3.11 Emitting events
3.12 UObject and Threads
3.13 Using binary types
3.13.1 UVar conversion and memory management
3.13.2 0-copy mode
3.14 Using hubs to group objects
3.15 Sending urbiscript code
3.16 Using RTP transport in remote mode
3.16.1 Enabling RTP
3.16.2 Per-UVar control of RTP mode
3.17 Extending the cast system
3.17.1 Principle
3.17.2 Casting simple structures
4 The UObject Java API
4.1 Compiling and running UObjects
4.1.1 Compiling and running by hand
4.1.2 The umake-java and urbi-launch-java tools
4.2 Creating a class, binding variables and functions
4.3 Creating new instances
4.4 Binding functions
4.4.1 Simple binding
4.5 Notification of a variable change or access
4.6 Timers
4.7 Using Urbi variables
4.8 Sending Urbi code
4.9 Providing a main class or not
4.10 Import the examples with Eclipse
4.11 Run the UObject Java examples
5 Use Cases
5.1 Writing a Servomotor Device
5.1.1 Caching
5.1.2 Using Timers
5.2 Using Hubs to Group Objects
5.2.1 Alternate Implementation
5.3 Writing a Camera Device
5.3.1 Optimization in Plugin Mode
5.4 Writing a Speaker or Microphone Device
5.5 Writing a Softdevice: Ball Detection
II urbiscript User Manual
6 First Steps
6.1 Comments
6.2 Literal values
6.3 Function calls
6.4 Variables
6.5 Scopes
6.6 Method calls
6.7 Function definition
6.8 Conclusion
7 Basic Objects, Value Model
7.1 Objects in urbiscript
7.2 Methods
7.3 Everything is an object
7.4 The urbiscript values model
7.5 Conclusion
8 Flow Control Constructs
8.1 if
8.2 while
8.3 for
8.4 switch
8.5 do
9 Advanced Functions and Scoping
9.1 Scopes as expressions
9.2 Advanced scoping
9.3 Local functions
9.4 Lexical closures
10 Objective Programming, urbiscript Object Model
10.1 Prototype-based programing in urbiscript
10.2 Prototypes and slot lookup
10.3 Copy on write
10.4 Defining pseudo-classes
10.5 Constructors
10.6 Operators
10.7 Properties
10.7.1 Features of Values
10.7.2 Features of Slots
11 Functional Programming
11.1 First class functions
11.2 Lambda functions
11.3 Lazy arguments
12 Parallelism, Concurrent Flow Control
12.1 Parallelism operators
12.2 Detach
12.3 Tags for parallel control flows
12.4 Advanced example with parallelism and tags
13 Event-based Programming
13.1 Watchdog constructs
13.2 Events
13.2.1 Emitting Events
13.2.2 Emitting events with a payload
14 Urbi for ROS Users
14.1 Communication on topics
14.1.1 Starting a process from Urbi
14.1.2 Listening to Topics
14.1.3 Advertising on Topics
14.1.3.1 Simple Talker
14.1.3.2 Turtle Simulation
14.2 Using Services
III Guidelines and Cook Books
15 Installation
15.1 Download
15.2 Install & Check
15.2.1 GNU/Linux and Mac OS X
15.2.2 Windows
16 Frequently Asked Questions
16.1 Build Issues
16.1.1 Complaints about ‘+=’
16.1.2 error: ‘¡anonymous¿’ is used uninitialized in this function
16.1.3 AM_LANGINFO_CODESET
16.1.4 ‘make check’ fails
16.2 Troubleshooting
16.2.1 Error 1723: ”A DLL required for this install to complete
could not be run.”
16.2.2 When executing a program, the message “The system cannot
execute the specified program.” is raised.
16.2.3 When executing a program, the message “This application
has failed to start” is raised.
16.2.4 The server dies with “stack exhaustion”
16.2.5 ’myuobject: file not found’. What can I do?
16.3 urbiscript
16.3.1 Objects lifetime
16.3.2 Slots and variables
16.3.3 Tags
16.3.4 Events
16.3.5 Standard Library
16.4 UObjects
16.4.1 Is the UObject API Thread-Safe?
16.5 Miscellaneous
16.5.1 What has changed since the latest release?
16.5.2 How can I contribute to the code?
16.5.3 How do I report a bug?
17 Migration from urbiscript 1 to urbiscript 2
17.1 $(Foo)
17.2 delete Foo
17.3 emit Foo
17.4 eval(Foo)
17.5 foreach
17.6 group
17.7 loopn
17.8 new Foo
17.9 self
17.10 stop Foo
17.11 # line
17.12 tag+end
18 Building Urbi SDK
18.1 Requirements
18.1.1 Bootstrap
18.1.2 Build
18.1.3 Check
18.2 Check out
18.3 Bootstrap
18.4 Configure
18.4.1 configuration options
18.4.2 Windows: Cygwin
18.4.3 Building For Windows
18.4.4 Building for Windows using Cygwin
18.5 Compile
18.6 Install
18.7 Relocatable
18.8 Run
18.9 Check
18.9.1 Lazy test suites
18.9.2 Partial test suite runs
IV Urbi SDK Reference Manual
19 Programs
19.1 Environment Variables
19.1.1 Search Path Variables
19.1.2 Environment Variables
19.2 Special Files
19.3 urbi — Running an Urbi Server
19.3.1 Options
19.3.2 Quitting
19.4 urbi-image — Querying Images from a Server
19.4.1 Options
19.5 urbi-launch — Running a UObject
19.5.1 Invoking urbi-launch
19.5.2 Examples
19.6 urbi-ping — Checking the Delays with a Server
19.6.1 Options
19.7 urbi-send — Sending urbiscript Commands to a Server
19.8 umake — Compiling UObject Components
19.8.1 Invoking umake
19.8.2 umake Wrappers
20 urbiscript Language Reference Manual
20.1 Syntax
20.1.1 Characters, encoding
20.1.2 Comments
20.1.3 Synclines
20.1.4 Identifiers
20.1.5 Keywords
20.1.6 Literals
20.1.6.1 Angles
20.1.6.2 Dictionaries
20.1.6.3 Durations
20.1.6.4 Floats
20.1.6.5 Lists
20.1.6.6 Strings
20.1.6.7 Tuples
20.1.6.8 Pseudo classes
20.1.7 Statement Separators
20.1.7.1 ‘;’
20.1.7.2 ‘,’
20.1.7.3 ‘|’
20.1.7.4 ‘&’
20.1.8 Operators
20.1.8.1 Arithmetic operators
20.1.8.2 Assignment operators
20.1.8.3 Postfix Operators
20.1.8.4 Bitwise operators
20.1.8.5 Logical operators
20.1.8.6 Comparison operators
20.1.8.7 Container operators
20.1.8.8 Object operators
20.1.8.9 All operators summary
20.2 Scopes and local variables
20.2.1 Scopes
20.2.2 Local variables
20.3 Functions
20.3.1 Function Definition
20.3.2 Arguments
20.3.3 Return value
20.3.4 Call messages
20.3.5 Strictness
20.3.6 Lexical closures
20.4 Objects
20.4.1 Slots
20.4.1.1 Manipulation
20.4.1.2 Syntactic Sugar
20.4.2 Properties
20.4.2.1 Manipulation
20.4.2.2 Standard Properties
20.4.3 Prototypes
20.4.3.1 Manipulation
20.4.3.2 Inheritance
20.4.3.3 Copy on write
20.4.4 Sending messages
20.5 Enumeration types
20.6 Structural Pattern Matching
20.6.1 Basic Pattern Matching
20.6.2 Variable
20.6.3 Guard
20.7 Imperative flow control
20.7.1 break
20.7.2 continue
20.7.3 do
20.7.4 if
20.7.5 for
20.7.5.1 C-like for
20.7.5.2 Range-for
20.7.5.3 for n-times
20.7.6 if
20.7.7 loop
20.7.8 switch
20.7.9 while
20.7.9.1 while;
20.7.9.2 while—
20.8 Exceptions
20.8.1 Throwing exceptions
20.8.2 Catching exceptions
20.8.3 Inspecting exceptions
20.8.4 Finally
20.8.4.1 Regular execution
20.8.4.2 Control-flow
20.8.4.3 Exceptions
20.9 Assertions
20.9.1 Asserting an Expression
20.9.2 Assertion Blocks
20.10 Parallel and event-based flow control
20.10.1 at
20.10.1.1 at on Events
20.10.1.2 at on Boolean Expressions
20.10.1.3 Scoping at at
20.10.2 every
20.10.2.1 every|
20.10.2.2 every,
20.10.3 for
20.10.3.1 C-for,
20.10.3.2 range-for& (:)
20.10.3.3 for& (n)
20.10.4 loop,
20.10.5 waituntil
20.10.5.1 waituntil on Events
20.10.5.2 waituntil on Boolean Expressions
20.10.6 whenever
20.10.6.1 whenever on Events
20.10.6.2 whenever on Boolean Expressions
20.10.7 While
20.10.7.1 while,
20.11 Trajectories
20.12 Garbage collection and limitations
21 urbiscript Standard Library
21.1 Barrier
21.1.1 Prototypes
21.1.2 Construction
21.1.3 Slots
21.2 Binary
21.2.1 Prototypes
21.2.2 Construction
21.2.3 Slots
21.3 Boolean
21.3.1 Prototypes
21.3.2 Construction
21.3.3 Truth Values
21.3.4 Slots
21.4 CallMessage
21.4.1 Examples
21.4.1.1 Evaluating an argument several times
21.4.1.2 Strict Functions
21.4.2 Slots
21.5 Channel
21.5.1 Prototypes
21.5.2 Construction
21.5.3 Slots
21.6 Code
21.6.1 Prototypes
21.6.2 Construction
21.6.3 Slots
21.7 Comparable
21.7.1 Slots
21.8 Container
21.8.1 Prototypes
21.8.2 Slots
21.9 Control
21.9.1 Prototypes
21.9.2 Slots
21.10 Date
21.10.1 Prototypes
21.10.2 Construction
21.10.3 Slots
21.11 Dictionary
21.11.1 Example
21.11.2 Hash values
21.11.3 Prototypes
21.11.4 Construction
21.11.5 Slots
21.12 Directory
21.12.1 Prototypes
21.12.2 Construction
21.12.3 Slots
21.13 Duration
21.13.1 Prototypes
21.13.2 Construction
21.13.3 Slots
21.14 Enumeration
21.14.1 Prototypes
21.14.2 Examples
21.14.3 Construction
21.14.4 Slots
21.15 Event
21.15.1 Prototypes
21.15.2 Examples
21.15.3 Construction
21.15.4 Slots
21.16 Exception
21.16.1 Prototypes
21.16.2 Construction
21.16.3 Slots
21.16.4 Specific Exceptions
21.17 Executable
21.17.1 Prototypes
21.17.2 Construction
21.17.3 Slots
21.18 File
21.18.1 Prototypes
21.18.2 Construction
21.18.3 Slots
21.19 Finalizable
21.19.1 Example
21.19.2 Prototypes
21.19.3 Construction
21.19.4 Slots
21.20 Float
21.20.1 Prototypes
21.20.2 Construction
21.20.3 Slots
21.21 Float.limits
21.21.1 Slots
21.22 FormatInfo
21.22.1 Prototypes
21.22.2 Construction
21.22.3 Slots
21.23 Formatter
21.23.1 Prototypes
21.23.2 Construction
21.23.3 Slots
21.24 Global
21.24.1 Prototypes
21.24.2 Slots
21.25 Group
21.25.1 Example
21.25.2 Prototypes
21.25.3 Construction
21.25.4 Slots
21.26 Hash
21.26.1 Prototypes
21.26.2 Construction
21.26.3 Slots
21.27 InputStream
21.27.1 Prototypes
21.27.2 Construction
21.27.3 Slots
21.28 IoService
21.28.1 Example
21.28.2 Prototypes
21.28.3 Construction
21.28.4 Slots
21.29 Job
21.29.1 Prototypes
21.29.2 Construction
21.29.3 Slots
21.30 Kernel1
21.30.1 Prototypes
21.30.2 Construction
21.30.3 Slots
21.31 Lazy
21.31.1 Examples
21.31.1.1 Evaluating once
21.31.1.2 Evaluating several times
21.31.2 Caching
21.31.3 Prototypes
21.31.4 Construction
21.31.5 Slots
21.32 List
21.32.1 Prototypes
21.32.2 Examples
21.32.3 Construction
21.32.4 Slots
21.33 Loadable
21.33.1 Prototypes
21.33.2 Example
21.33.3 Construction
21.33.4 Slots
21.34 Lobby
21.34.1 Prototypes
21.34.2 Construction
21.34.3 Examples
21.34.4 Slots
21.35 Location
21.35.1 Prototypes
21.35.2 Construction
21.35.3 Slots
21.36 Math
21.36.1 Prototypes
21.36.2 Construction
21.36.3 Slots
21.37 Mutex
21.37.1 Prototypes
21.37.2 Construction
21.37.3 Slots
21.38 nil
21.38.1 Prototypes
21.38.2 Construction
21.38.3 Slots
21.39 Object
21.39.1 Prototypes
21.39.2 Construction
21.39.3 Slots
21.40 Orderable
21.41 OutputStream
21.41.1 Prototypes
21.41.2 Construction
21.41.3 Slots
21.42 Pair
21.42.1 Prototype
21.42.2 Construction
21.42.3 Slots
21.43 Path
21.43.1 Prototypes
21.43.2 Construction
21.43.3 Slots
21.44 Pattern
21.44.1 Prototypes
21.44.2 Construction
21.44.3 Slots
21.45 Position
21.45.1 Prototypes
21.45.2 Construction
21.45.3 Slots
21.46 Primitive
21.46.1 Prototypes
21.46.2 Construction
21.46.3 Slots
21.47 Process
21.47.1 Prototypes
21.47.2 Example
21.47.3 Construction
21.47.4 Slots
21.48 Profiling
21.48.1 Prototypes
21.48.2 Construction
21.49 PseudoLazy
21.50 PubSub
21.50.1 Prototypes
21.50.2 Construction
21.50.3 Slots
21.51 PubSub.Subscriber
21.51.1 Prototypes
21.51.2 Construction
21.51.3 Slots
21.52 RangeIterable
21.52.1 Prototypes
21.52.2 Slots
21.53 Regexp
21.53.1 Prototypes
21.53.2 Construction
21.53.3 Slots
21.54 StackFrame
21.54.1 Construction
21.54.2 Slots
21.55 Semaphore
21.55.1 Prototypes
21.55.2 Construction
21.55.3 Slots
21.56 Server
21.56.1 Prototypes
21.56.2 Construction
21.56.3 Slots
21.57 Singleton
21.57.1 Prototypes
21.57.2 Construction
21.57.3 Slots
21.58 Socket
21.58.1 Example
21.58.2 Prototypes
21.58.3 Construction
21.58.4 Slots
21.59 String
21.59.1 Prototypes
21.59.2 Construction
21.59.3 Slots
21.60 System
21.60.1 Prototypes
21.60.2 Slots
21.61 System.PackageInfo
21.61.1 Prototypes
21.61.2 Slots
21.62 System.Platform
21.62.1 Prototypes
21.62.2 Slots
21.63 Tag
21.63.1 Examples
21.63.1.1 Stop
21.63.1.2 Block/unblock
21.63.1.3 Freeze/unfreeze
21.63.1.4 Scope tags
21.63.1.5 Enter/leave events
21.63.1.6 Begin/end
21.63.2 Construction
21.63.3 Slots
21.63.4 Hierarchical tags
21.64 Timeout
21.64.1 Prototypes
21.64.2 Construction
21.64.3 Examples
21.64.4 Slots
21.65 Traceable
21.65.1 Slots
21.66 TrajectoryGenerator
21.66.1 Prototypes
21.66.2 Examples
21.66.2.1 Accel
21.66.2.2 Cos
21.66.2.3 Sin
21.66.2.4 Smooth
21.66.2.5 Speed
21.66.2.6 Time
21.66.2.7 Trajectories and Tags
21.66.3 Construction
21.66.4 Slots
21.67 Triplet
21.67.1 Prototype
21.67.2 Construction
21.67.3 Slots
21.68 Tuple
21.68.1 Prototype
21.68.2 Construction
21.68.3 Slots
21.69 UObject
21.69.1 Prototypes
21.69.2 Slots
21.70 UValue
21.71 UVar
21.71.1 Construction
21.71.2 Prototypes
21.71.3 Slots
21.72 void
21.72.1 Prototypes
21.72.2 Construction
21.72.3 Slots
22 Communication with ROS
22.1 Ros
22.1.1 Construction
22.1.2 Slots
22.2 Ros.Topic
22.2.1 Construction
22.2.2 Slots
22.2.2.1 Common
22.2.2.2 Subscription
22.2.2.3 Advertising
22.2.3 Example
22.3 Ros.Service
22.3.1 Construction
22.3.2 Slots
23 Gostai Standard Robotics API
23.1 The Structure Tree
23.2 Frame of Reference
23.3 Component naming
23.4 Localization
23.5 Interface
23.5.1 Identity
23.5.2 Network
23.5.3 Motor
23.5.4 LinearMotor (subclass of Motor)
23.5.5 LinearSpeedMotor (subclass of Motor)
23.5.6 RotationalMotor (subclass of Motor)
23.5.7 RotationalSpeedMotor (subclass of Motor)
23.5.8 Sensor
23.5.9 DistanceSensor (subclass of Sensor)
23.5.10 TouchSensor (subclass of Sensor)
23.5.11 AccelerationSensor (subclass of Sensor)
23.5.12 GyroSensor (subclass of Sensor)
23.5.13 TemperatureSensor (subclass of Sensor)
23.5.14 Laser (subclass of Sensor)
23.5.15 Mobile
23.5.15.1 Blocking API
23.5.15.2 Speed-control API
23.5.15.3 Safety
23.5.15.4 State
23.5.16 Tracker
23.5.17 VideoIn
23.5.18 AudioOut
23.5.19 AudioIn
23.5.20 BlobDetector
23.5.21 TextToSpeech
23.5.22 SpeechRecognizer
23.5.23 Led
23.5.24 RGBLed (subclass of Led)
23.5.25 Battery
23.6 Standard Components
23.6.1 Yaw/Pitch/Roll orientation
23.6.2 Standard Component List
23.7 Compact notation
23.8 Support classes
23.8.1 Interface
23.8.2 Component
23.8.3 Localizer
V Urbi Platforms
24 Bioloid
24.1 Introduction
24.2 Installing Urbi for Bioloid
24.2.1 Flashing the firmware
24.2.2 Getting Urbi and Urbi for Bioloid
24.3 First steps
24.3.1 Starting up
24.3.2 Motor features
24.3.3 Sensor features
25 Mindstorms NXT
25.1 Launching Urbi for Mindstorms NXT
25.2 First steps with Urbi to control Mindstorms NXT
25.2.1 Make basic movements
25.2.2 Improving the movements
25.2.3 Reading sensors
25.2.4 Tagging commands
25.2.5 Playing sounds
25.2.6 Cyclic moves
25.2.7 Parallelism
25.2.8 Using functions
25.2.9 Loading files
25.2.10 Conclusion
25.3 Default layout reference
25.3.1 Motors
25.3.2 Sensors
25.3.2.1 Bumper
25.3.2.2 Sonar
25.3.2.3 Decibel
25.3.2.4 Light
25.3.3 Battery
25.3.4 Beeper
25.3.5 Command
25.4 How to make its own layout
25.4.1 Instancing Motors
25.4.2 Instancing sensors
25.4.3 Other devices
25.5 Available UObject Devices
25.5.1 Servo
25.5.2 UltraSonicSensor
25.5.3 SoundSensor
25.5.4 LightSensor
25.5.5 Switch
25.5.6 Battery
25.5.7 Beeper
25.5.8 Command
25.5.9 Instances
25.5.10 Groups
26 Nao
26.1 Introduction
26.2 Starting up
26.3 Accessing joints
26.3.1 Advanced parameters
26.3.1.1 Trajectory generator period
26.3.1.2 Motor back-end method
26.3.1.3 Motor command debugging
26.4 Leds
26.5 Camera
26.5.1 Slots
26.6 Whole body motion
26.7 Other sensors
26.8 Interfacing with NaoQi
26.8.1 Accessing the NaoQi shared memory region
26.8.2 Accessing standard NaoQi modules
26.8.3 Binding new NaoQi modules in Urbi
26.8.4 Writing NaoQi modules in Urbi
27 Pioneer 3-DX
27.1 Getting started
27.2 How to use Pioneer 3-DX robot
27.2.1 P3dx
27.2.2 P3dx.body
27.2.3 P3dx.body.odometry
27.2.4 P3dx.body.sonar
27.2.5 P3dx.body.laser
27.2.6 P3dx.body.camera
27.2.7 P3dx.body.x
27.2.8 P3dx.body.yaw
27.2.9 P3dx.planner
27.2.10 P3dx.body.battery
27.3 Mobility modes
27.4 About units
28 Segway RMP
28.1 RMP
28.1.1 Instantiation
28.1.2 Slots
28.2 GSRAPI compliance
29 Spykee
29.1 Installing Urbi on the Spykee
29.2 Device list
29.3 Dynamically loaded modules
29.3.1 Clapper
30 Webots
30.1 Setup
30.1.1 Installation
30.1.1.1 Linux
30.1.1.2 Mac OS X
30.1.1.3 Windows
30.1.2 License
30.1.2.1 Evaluation mode
30.1.2.2 Setting up a license
30.2 Using Urbi as a controller in your Webots worlds
30.2.1 Using the default urbi-2.0 controller
30.2.2 Defining custom Urbi controllers
30.3 Binding your own robots with Urbi for Webots
30.4 Built-in robots and worlds
30.5 Webots UObjects
30.5.1 Robot devices UObjects
30.5.1.1 Accelerometer
30.5.1.2 Camera
30.5.1.3 Differential Wheels
30.5.1.4 Distance Sensor
30.5.1.5 Led
30.5.1.6 Servo
30.5.1.7 Touch Sensor
30.5.2 Supervisor API UObjects
30.5.2.1 Label
30.5.2.2 Manipulate Node
30.5.2.3 Simulation Controller
VI Tables and Indexes
31 Notations
31.1 Words
31.2 Frames
31.2.1 Shell Sessions
31.2.2 urbiscript Sessions
31.2.3 urbiscript Assertions
31.2.4 C ++ Code
32 Release Notes
32.1 Urbi SDK 2.5
32.1.1 Fixes
32.1.2 New Features
32.1.3 Changes
32.1.4 Documentation
32.2 Urbi SDK 2.4
32.2.1 Fixes
32.2.2 New Features
32.2.3 Documentation
32.3 Urbi SDK 2.3
32.3.1 Fixes
32.3.2 New Features
32.4 Urbi SDK 2.2
32.4.1 Fixes
32.4.2 New Features
32.4.3 Documentation
32.5 Urbi SDK 2.1
32.5.1 Fixes
32.5.2 New Features
32.5.3 Optimization
32.5.4 Documentation
32.6 Urbi SDK 2.0.3
32.6.1 New Features
32.6.2 Fixes
32.6.3 Documentation
32.7 Urbi SDK 2.0.2
32.7.1 urbiscript
32.7.2 Fixes
32.7.3 Documentation
32.8 Urbi SDK 2.0.1
32.8.1 urbiscript
32.8.2 Documentation
32.8.3 Fixes
32.9 Urbi SDK 2.0
32.9.1 urbiscript
32.9.1.1 Changes
32.9.1.2 New features
32.9.2 UObjects
32.9.3 Documentation
32.10 Urbi SDK 2.0 RC 4
32.10.1 urbiscript
32.10.1.1 Changes
32.10.1.2 New objects
32.10.1.3 New features
32.10.2 UObjects
32.11 Urbi SDK 2.0 RC 3
32.11.1 urbiscript
32.11.1.1 Fixes
32.11.1.2 Changes
32.11.2 Documentation
32.12 Urbi SDK 2.0 RC 2
32.12.1 Optimization
32.12.2 urbiscript
32.12.2.1 New constructs
32.12.2.2 New objects
32.12.2.3 New features
32.12.2.4 Fixes
32.12.2.5 Deprecations
32.12.2.6 Changes
32.12.3 UObjects
32.12.4 Documentation
32.12.5 Various
32.13 Urbi SDK 2.0 RC 1
32.13.1 Auxiliary programs
32.13.2 urbiscript
32.13.2.1 Syntax of events
32.13.2.2 Changes
32.13.2.3 Fixes
32.13.3 URBI Remote SDK
32.13.4 Documentation
32.14 Urbi SDK 2.0 beta 4
32.14.1 Documentation
32.14.2 urbiscript
32.14.2.1 Bug fixes
32.14.2.2 Changes
32.14.3 Programs
32.14.3.1 Environment variables
32.14.3.2 Scripting
32.14.3.3 urbi-console
32.14.3.4 Auxiliary programs
32.15 Urbi SDK 2.0 beta 3
32.15.1 Documentation
32.15.2 urbiscript
32.15.2.1 Fixes
32.15.2.2 Changes
32.15.3 UObjects
32.15.4 Auxiliary programs
32.16 Urbi SDK 2.0 beta 2
32.16.1 urbiscript
32.16.2 Standard library
32.16.3 UObjects
32.16.4 Run-time
32.16.5 Bug fixes
32.16.6 Auxiliary programs
33 Licenses
33.1 BSD License
33.2 Expat License
33.3 Independent JPEG Group’s Software License
33.4 Libcoroutine License
33.5 OpenSSL License
33.6 Urbi Open Source Contributor Agreement
34 Glossary