Gazebo version 1.6.3 has been released. This release includes many bug fixes, and the following new features:

• Fixed a critical SDF bug
• Fixed laser offset bug
• Fix for fdir1 physics property
• Fix for force torque sensor
• SDF documentation fix
• Switch default build mode to Release
• Progress toward to building on OS X
• Improvements to inertia in rubble pile
• Various Bullet integration advances
• Noise models for ray, camera, and imu sensors
• SDF 1.4, which accommodates more physics engine parameters and also some sensor noise models
• Initial support for making movies from within Gazebo
• Many performance improvements

Changelog