Yet Another Robotics Toolbox (YART) written in MATLAB will be presented in this page. YART will be mainly composed on three parts:

1. Kinematic and Dynamic simulation of rigid body systems based on "Introduction to Humanoid Robotics" written by Kajita et al. (https://www.springer.com/gp/book/9783642545351).

2. Path Planning Methods for Mobile Robots.

3. Motion Capture (MoCap) Data handling methods, especially how to use the publicly-available CMU MoCap DB.

4. Some basic machine learning and optimization methods such as Gaussian processes and Bayesian Optimization.

All codes will be released via github.