<s>
Open	B-Application
Robotics	I-Application
Automation	I-Application
Virtual	I-Application
Environment	I-Application
(	O
OpenRAVE	B-Application
)	O
provides	O
an	O
environment	O
for	O
testing	O
,	O
developing	O
,	O
and	O
deploying	O
motion	O
planning	O
algorithms	O
in	O
real-world	O
robotics	O
applications	O
.	O
</s>
<s>
OpenRAVE	B-Application
’s	O
stand-alone	O
nature	O
allows	O
it	O
to	O
be	O
easily	O
integrated	O
into	O
existing	O
robotics	O
systems	O
.	O
</s>
<s>
It	O
provides	O
many	O
command-line	B-Application
tools	I-Application
to	O
work	O
with	O
robots	B-Algorithm
and	O
planners	O
,	O
and	O
the	O
run-time	O
core	O
is	O
small	O
enough	O
to	O
be	O
used	O
inside	O
controllers	O
and	O
bigger	O
frameworks	O
.	O
</s>
<s>
Possibly	O
the	O
most	O
influential	O
technology	O
OpenRAVE	B-Application
provides	O
is	O
a	O
tool	O
called	O
IKFast	O
,	O
the	O
Robot	B-Algorithm
Kinematics	O
Compiler	O
.	O
</s>
<s>
Unlike	O
most	O
inverse	O
kinematics	O
solvers	O
,	O
IKFast	O
can	O
analytically	O
solve	O
the	O
kinematics	O
equations	O
of	O
any	O
complex	O
kinematics	O
chain	O
,	O
and	O
generate	O
language-specific	O
files	O
(	O
like	O
C++	B-Language
)	O
for	O
later	O
use	O
.	O
</s>
<s>
OpenRAVE	B-Application
supports	O
the	O
COLLADA	O
1.5	O
file	O
format	O
for	O
specifying	O
robots	B-Algorithm
and	O
adds	O
its	O
own	O
set	O
of	O
robot-specific	O
extensions	O
.	O
</s>
<s>
The	O
robot	B-Algorithm
extensions	O
include	O
:	O
</s>
<s>
The	O
core	O
of	O
OpenRAVE	B-Application
design	O
focuses	O
on	O
offering	O
interfaces	O
and	O
implementations	O
of	O
motion	O
planning	O
algorithms	O
.	O
</s>
<s>
Most	O
of	O
the	O
planning	O
algorithm	O
implementations	O
are	O
for	O
robot	B-Algorithm
arms	O
and	O
use	O
sampling	O
to	O
explore	O
the	O
task	O
configuration	O
spaces	O
.	O
</s>
<s>
OpenRAVE	B-Application
's	O
main	O
focus	O
is	O
to	O
increase	O
the	O
reliability	O
of	O
motion	O
planning	O
systems	O
to	O
make	O
integration	O
easy	O
.	O
</s>
<s>
OpenRAVE	B-Application
was	O
founded	O
by	O
Rosen	O
Diankov	O
at	O
the	O
Quality	O
of	O
Life	O
Technology	O
Center	O
in	O
the	O
Carnegie	O
Mellon	O
University	O
Robotics	O
Institute	O
.	O
</s>
<s>
The	O
OpenRAVE	B-Application
project	O
was	O
started	O
in	O
2006	O
and	O
started	O
out	O
as	O
a	O
complete	O
rewrite	O
of	O
RAVE	O
to	O
support	O
plugins	O
.	O
</s>
<s>
After	O
earning	O
his	O
PhD	O
from	O
the	O
Robotics	O
Institute	O
in	O
August	O
2010	O
,	O
Rosen	O
Diankov	O
became	O
a	O
postdoc	O
at	O
the	O
JSK	O
Robotics	O
Lab	O
at	O
University	O
of	O
Tokyo	O
where	O
OpenRAVE	B-Application
is	O
currently	O
being	O
maintained	O
.	O
</s>
<s>
Rosen	O
Diankov	O
is	O
still	O
the	O
active	O
maintainer	O
of	O
OpenRAVE	B-Application
.	O
</s>
