Version: 0.9.0

This document covers the core OpenRAVE concepts, the C++ API, C++ examples, and C++ usage of the plugins offered in the base installation.

Visit the official documentation page for information on all other OpenRAVE features.

Getting Started

• Building and Installing
• Basic Usage and Loading Environments
• Environment Variables

Architecture

• Introduction to the OpenRAVE Architecture
• Base Interface Concepts
• Writing Plugins and Interfaces
• Writing and Using Controllers
• Cloning

Reference

• Base Interface Classes
• Executable Programs
• Geometric Primitives
• Affine Math
• C++ Examples