The Urbi library for matlab has been updated for compatibility with the Urbi 2.0 RC kernel.
You can now download liburbi for matlab in the urbi-contrib svn. Packages are also available in the download section. Have fun.
URBI (Universal RealTime Behoavior Interface) is a scripted command language used to control robots (AIBO, pioneer, LEGO Mindstorms NXT,...) as well as a robot-independant execution and developpement plateform.
You can contribute to the URBI project by developing applications and by proposing them here.