The first major Orocos release in over a year is out and brings a lot of new features to the package. The Open Robot Control Software (Orocos) Framework provides a real-time C++ infrastructure for creating standards-based robot control software. Orocos is designed to run under Real-Time Linux variants but will also run under conventional Linux distributions. The Orocos API includes a wide range of useful tools including kinematics, task sequencing, and CORBA-based communications primitives. Orocos is Free Software licensed under the GNU GPL.