What are some exercises I could do at home to discipline myself physically – kind of pilates x martial arts?

I can’t get to any kind of lesson but really want to discipline myself physically. So, I’m looking for some kind of series of exercises I can do, just at home by myself, to get stronger (!!) and like… faster. Improve balance, co-ordination, flexibility, reflexes… like a mixture between pilates or yoga and martial arts… training and working muscles through stretching and that. Something I can make a routine with. Not weights or anything though ;-)

Actually (might be asking a bit much) but a website detailing how to do some exercises like this would be absolutely brilliant.

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