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Merged
jslee02 merged 3 commits into from
Dec 12, 2025
Merged

Packaging 6.16.1 #2296

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85981c9
Bump version to 6.16.1
jslee02 Dec 9, 2025
0a76daa
Handle no-sudo API docs runners
jslee02 Dec 9, 2025
35b62e7
Update changelog
jslee02 Dec 12, 2025
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19 changes: 13 additions & 6 deletions .github/workflows/api_doc.yml
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Expand Up @@ -45,6 +45,15 @@ jobs:
if: github.event_name == 'pull_request'
run: echo "BRANCH_NAME=${GITHUB_HEAD_REF}" >> $GITHUB_ENV

- name: Detect passwordless sudo
run: |
if command -v sudo && sudo -n true 2>/dev/null; then
echo "SUDO_AVAILABLE=true" >> "$GITHUB_ENV"
else
echo "SUDO_AVAILABLE=false" >> "$GITHUB_ENV"
echo "Passwordless sudo unavailable; skipping apt-based setup."
fi

- name: Checkout
uses: actions/checkout@v5

Expand All @@ -62,15 +71,13 @@ jobs:
echo "PIXI_PREFIX=${PIXI_PREFIX}" >> "$GITHUB_ENV"

- name: Prework for installing packages using cache
if: env.SUDO_AVAILABLE == 'true'
run: |
if command -v sudo && sudo -n true 2>/dev/null; then
sudo apt update
sudo apt install -y cmake
else
echo "Skipping apt prework because passwordless sudo is unavailable on this runner."
fi
sudo -n apt update
sudo -n apt install -y cmake

- name: Install Dependencies with cache
if: env.SUDO_AVAILABLE == 'true'
uses: awalsh128/cache-apt-pkgs-action@v1.5.3
with:
packages: >
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5 changes: 5 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -2,6 +2,11 @@

## DART 6

### [DART 6.16.1 (2025-12-12)](https://github.com/dartsim/dart/milestone/86?closed=1)

* Build
* Fix FreeListAllocator assertions when building without NDEBUG (e.g., Ubuntu 24.04 GCC 13): [#2295](https://github.com/dartsim/dart/pull/2295)

### [DART 6.16.0 (2025-11-09)](https://github.com/dartsim/dart/milestone/83?closed=1)

* Tested Platforms
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2 changes: 1 addition & 1 deletion examples/atlas_puppet/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/atlas_simbicon/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/biped_stand/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/box_stacking/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/boxes/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_add_delete_skels/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_atlas_simbicon/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_biped_stand/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_hardcoded_design/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_human_joint_limits/CMakeLists.txt
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Expand Up @@ -41,7 +41,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_hybrid_dynamics/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_joint_constraints/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_mixed_chain/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_operational_space_control/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_rigid_chain/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_rigid_cubes/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_rigid_loop/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_rigid_shapes/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_simple_frames/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_soft_bodies/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/deprecated_examples/glut_vehicle/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/drag_and_drop/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/empty/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/fetch/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/heightmap/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/hello_world/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/hubo_puppet/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/imgui/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/operational_space_control/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/point_cloud/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/rerun/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/rigid_shapes/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/soft_bodies/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/speed_test/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/tinkertoy/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion examples/wam_ikfast/CMakeLists.txt
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Expand Up @@ -14,7 +14,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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2 changes: 1 addition & 1 deletion package.xml
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Expand Up @@ -4,7 +4,7 @@
a Catkin workspace. Catkin is not required to build DART. For more
information, see: http://ros.org/reps/rep-0136.html -->
<name>dartsim</name>
<version>6.16.0</version>
<version>6.16.1</version>
<description>
DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
cross-platform, open source library created by the Georgia Tech Graphics
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2 changes: 1 addition & 1 deletion pixi.toml
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@@ -1,6 +1,6 @@
[project]
name = "DART"
version = "6.16.0"
version = "6.16.1"
description = "Dynamic Animation and Robotics Toolkit"
authors = ["Jeongseok Lee <jslee02@gmail.com>"]
channels = ["conda-forge"]
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2 changes: 1 addition & 1 deletion tutorials/tutorial_biped/CMakeLists.txt
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Expand Up @@ -12,7 +12,7 @@ if(DART_IN_SOURCE_BUILD)
return()
endif()

find_package(DART 6.16.0 REQUIRED COMPONENTS ${required_components} CONFIG)
find_package(DART 6.16.1 REQUIRED COMPONENTS ${required_components} CONFIG)

file(GLOB srcs "*.cpp" "*.hpp")
add_executable(${example_name} ${srcs})
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