Gazebo PMC boosts build stability to 90%, preps MuJoCo 3.11 upgrade

The Gazebo Project Management Committee (PMC) held its weekly meeting on August 3, 2026, addressing security, infrastructure, and simulation performance. To mitigate scrapers causing Jenkins buildfarm performance issues, the team is deploying Anubis frontend protection on the GitHub login endpoint at build.osrfoundation.org this week. Nvidia driver version mismatches, caused by unattended kernel updates on Linux GPU nodes, are being fixed by rebuilding node images and pinning driver versions, while disabling unattended upgrades on active instances. The monthly Greenness report shows build stability above 90% across all distributions, a key milestone for release confidence.

In the physics and simulation realm, the joint velocity command implementation for MuJoCo (gz-physics#1004) is ready for review, but the team documented behavior differences from DART and Bullet-featherstone rather than forcing a direct match. MuJoCo is being upgraded to version 3.11.0 (gz-physics#1029), with an exploration of collision computation optimizations that could yield a ~23% speedup. Gazebo Rotary is shifting to a pre-release model to unblock development, with new release tooling (release-tools#1526) and gz-cmake6 6.0.0~pre1 already published. Discovery message improvements add subscriber node UUIDs and snapshot metadata (gz-msgs#615), fixing subscriber info and enabling better topic announcement in transport layer.