Another major Orocos update has been released. The update includes many new features as well as bug fixes. 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.