diff --git a/.ci/travis/docs_versions.txt b/.ci/travis/docs_versions.txt
index 0156436c704f9..f78ad2c554ae1 100644
--- a/.ci/travis/docs_versions.txt
+++ b/.ci/travis/docs_versions.txt
@@ -1,5 +1,5 @@
DART 6
-v6.10.0
+v6.10.1
v6.9.5
v6.8.5
v6.7.3
diff --git a/CHANGELOG.md b/CHANGELOG.md
index b0ec47e4676ba..4a5318d2ebc4c 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
## DART 6
+### [DART 6.10.1 (2021-04-13)](https://github.com/dartsim/dart/milestone/65?closed=1)
+
+* GUI
+
+ * Protect OpenGL attributes shared by ImGui and OSG: [#1558](https://github.com/dartsim/dart/pull/1558)
+
### [DART 6.10.0 (2021-04-09)](https://github.com/dartsim/dart/milestone/58?closed=1)
* Common
diff --git a/dart/external/imgui/imgui_impl_opengl2.cpp b/dart/external/imgui/imgui_impl_opengl2.cpp
index b062697bcfa14..6cd2f469efbd0 100644
--- a/dart/external/imgui/imgui_impl_opengl2.cpp
+++ b/dart/external/imgui/imgui_impl_opengl2.cpp
@@ -85,6 +85,13 @@ static void ImGui_ImplOpenGL2_SetupRenderState(ImDrawData* draw_data, int fb_wid
glDisable(GL_LIGHTING);
glDisable(GL_COLOR_MATERIAL);
glEnable(GL_SCISSOR_TEST);
+ //---------------------------
+ // [BEGIN] Modified for DART
+ //---------------------------
+ glPushClientAttrib(GL_VERTEX_ARRAY | GL_TEXTURE_COORD_ARRAY | GL_COLOR_ARRAY);
+ //---------------------------
+ // [END] Modified for DART
+ //---------------------------
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
@@ -187,6 +194,13 @@ void ImGui_ImplOpenGL2_RenderDrawData(ImDrawData* draw_data)
glDisableClientState(GL_COLOR_ARRAY);
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
glDisableClientState(GL_VERTEX_ARRAY);
+ //---------------------------
+ // [BEGIN] Modified for DART
+ //---------------------------
+ glPopClientAttrib();
+ //---------------------------
+ // [END] Modified for DART
+ //---------------------------
glBindTexture(GL_TEXTURE_2D, (GLuint)last_texture);
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
diff --git a/package.xml b/package.xml
index 8b016134b34b9..558f4b4a91163 100644
--- a/package.xml
+++ b/package.xml
@@ -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 -->
dartsim
- 6.10.0
+ 6.10.1
DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
cross-platform, open source library created by the Georgia Tech Graphics