Ramy Wahib developed robust humanoid arm task-space control for the WATonomous/humanoid repository, focusing on a 6-DOF configuration to enable advanced manipulation tasks in simulation. He established initial joint states and actuator settings, ensuring the arm could be controlled effectively in task space. Using Python and leveraging skills in robotics and artificial intelligence, Ramy refactored the configuration to remove redundant hand-specific setup, simplifying maintenance and reducing potential errors. He also aligned and stabilized test scripts, improving simulation reliability and reproducibility. This foundational work supports higher fidelity simulations and sets the stage for future enhancements in robotic manipulation and control.