RobotLocomotion/drake
Oct 2024 – Jan 2026
16 Months active
Languages Used
BazelC++PythonStarlarkGLSLMarkdownHTMLJSON
Technical Skills
Build SystemC++ DevelopmentScriptingTestingAPI DesignBuild System Configuration
Sean Curtis
PROFILE
Sean Curtis
Overall Statistics
Feature vs Bugs
67%Features
Repository Contributions
88Total
Bugs
20
Commits
88
Features
40
Lines of code
24,162
Activity Months16
Your Network
41 people
Work History
January 2026
7 Commits • 2 Features
Jan 1, 2026January 2026 monthly summary for Robot Locomotion Drake: Key features delivered and major improvements: - Plane Geometry API and Intersection Enhancements: Introduced the geometry::Plane class as part of the public API, added Python bindings, and implemented AABB/OBB intersection checks between planes, boxes, and half-spaces. Included a performance-focused refactor of the OBB–plane intersection path to reduce redundant calculations and improve runtime efficiency. - Representative commits: d203037f8251f879840b70078517a6297e4febc5 (Move box-plane intersection into Plane); 2c653bbce77824437e4672ff96ae94d5356290f5 (Make geometry::Plane public; Python bindings); 538c9283dc005564b45b943b762bbe200a618e1d (Improve Obb-Plane/HalfSpace intersection); 26ddbb38a05ba31c488ab7a672140de43bf2c631 (Add Aabb-{plane|half space} intersection and missing bindings). - Documentation and Maintenance Updates: Strengthened documentation formatting, improved error handling macros, and updated dependencies to improve stability and readability. - Representative commits: 6c199f89fd78fba7caef991e49b4a2f0eff875ca (Correct formatting for Drake tags); 17ec9473f7dad3ed4c43e9e6475b84ec426200bc (Support int and size_t in DRAKE_THROW_UNLESS); bc583390a692ca9ae6e1d4e33c04ea2f03ab36d0 ([workspace] Update dependency FCL to latest). Impact and business value: - Enhanced geometric reasoning capabilities in Drake, enabling more accurate physics and collision queries in simulations. - Broader, easier-to-use API with Python bindings, accelerating scripting, prototyping, and integration with external tooling. - Improved stability and maintainability through documentation improvements and dependency management, reducing risk for future releases. Technologies and skills demonstrated: - C++ API design and public exposure of Plane geometry, OBB/Plane/HalfSpace intersection logic. - Performance optimization of geometry paths and reduction of redundant computations. - Python bindings and cross-language API exposure. - Geometry algorithms (AABB/OBB intersections), error handling macros, and dependency management (FCL).
7 Commits • 2 Features
Jan 1, 2026January 2026 monthly summary for Robot Locomotion Drake: Key features delivered and major improvements: - Plane Geometry API and Intersection Enhancements: Introduced the geometry::Plane class as part of the public API, added Python bindings, and implemented AABB/OBB intersection checks between planes, boxes, and half-spaces. Included a performance-focused refactor of the OBB–plane intersection path to reduce redundant calculations and improve runtime efficiency. - Representative commits: d203037f8251f879840b70078517a6297e4febc5 (Move box-plane intersection into Plane); 2c653bbce77824437e4672ff96ae94d5356290f5 (Make geometry::Plane public; Python bindings); 538c9283dc005564b45b943b762bbe200a618e1d (Improve Obb-Plane/HalfSpace intersection); 26ddbb38a05ba31c488ab7a672140de43bf2c631 (Add Aabb-{plane|half space} intersection and missing bindings). - Documentation and Maintenance Updates: Strengthened documentation formatting, improved error handling macros, and updated dependencies to improve stability and readability. - Representative commits: 6c199f89fd78fba7caef991e49b4a2f0eff875ca (Correct formatting for Drake tags); 17ec9473f7dad3ed4c43e9e6475b84ec426200bc (Support int and size_t in DRAKE_THROW_UNLESS); bc583390a692ca9ae6e1d4e33c04ea2f03ab36d0 ([workspace] Update dependency FCL to latest). Impact and business value: - Enhanced geometric reasoning capabilities in Drake, enabling more accurate physics and collision queries in simulations. - Broader, easier-to-use API with Python bindings, accelerating scripting, prototyping, and integration with external tooling. - Improved stability and maintainability through documentation improvements and dependency management, reducing risk for future releases. Technologies and skills demonstrated: - C++ API design and public exposure of Plane geometry, OBB/Plane/HalfSpace intersection logic. - Performance optimization of geometry paths and reduction of redundant computations. - Python bindings and cross-language API exposure. - Geometry algorithms (AABB/OBB intersections), error handling macros, and dependency management (FCL).
January 2026
December 2025
7 Commits • 5 Features
Dec 1, 2025December 2025: Drake development completed across rendering fidelity, reliability, and developer experience. Key outcomes include BRDF multi-scatter and gamma corrections for brighter, more physically accurate renders; cleanup of outdated SceneGraph warnings; an enhanced release notes tagging system; macOS testing reliability improvements; and a new safe pointer dereferencing utility with broader documentation improvements. Together, these changes improve simulation realism, CI robustness, and developer productivity, enabling faster iteration and clearer release communication across teams.
December 2025
7 Commits • 5 Features
Dec 1, 2025December 2025: Drake development completed across rendering fidelity, reliability, and developer experience. Key outcomes include BRDF multi-scatter and gamma corrections for brighter, more physically accurate renders; cleanup of outdated SceneGraph warnings; an enhanced release notes tagging system; macOS testing reliability improvements; and a new safe pointer dereferencing utility with broader documentation improvements. Together, these changes improve simulation realism, CI robustness, and developer productivity, enabling faster iteration and clearer release communication across teams.
November 2025
4 Commits • 3 Features
Nov 1, 20252025-11 monthly summary for RobotLocomotion/drake. Key focus areas: documentation accuracy, robust error handling, visualization fidelity, and testing performance. Delivered four commits across the Drake repository, improving docs rendering, extending DRAKE_THROW_UNLESS with additional types, enhancing the Model Visualizer with environment map forwarding, lights-off option, camera FOV alignment, and tone mapping, and optimizing benchmark tests with a dry-run option to reduce timeouts.
4 Commits • 3 Features
Nov 1, 20252025-11 monthly summary for RobotLocomotion/drake. Key focus areas: documentation accuracy, robust error handling, visualization fidelity, and testing performance. Delivered four commits across the Drake repository, improving docs rendering, extending DRAKE_THROW_UNLESS with additional types, enhancing the Model Visualizer with environment map forwarding, lights-off option, camera FOV alignment, and tone mapping, and optimizing benchmark tests with a dry-run option to reduce timeouts.
November 2025
October 2025
12 Commits • 4 Features
Oct 1, 2025October 2025 Drake development focused on rendering fidelity, release tooling, documentation quality, and build/package reliability. Delivered HDR rendering enhancements in Meshcat, improved maintenance tooling for releases, clarified image-format documentation, enhanced error reporting, and strengthened packaging workflows to prevent shipping dummy data. Together these efforts improved runtime visualization realism, developer experience, and product reliability.
October 2025
12 Commits • 4 Features
Oct 1, 2025October 2025 Drake development focused on rendering fidelity, release tooling, documentation quality, and build/package reliability. Delivered HDR rendering enhancements in Meshcat, improved maintenance tooling for releases, clarified image-format documentation, enhanced error reporting, and strengthened packaging workflows to prevent shipping dummy data. Together these efforts improved runtime visualization realism, developer experience, and product reliability.
September 2025
4 Commits • 1 Features
Sep 1, 20252025-09 monthly summary for RobotLocomotion/drake: Delivered robust collision detection, stabilized tests, improved mass visualization, and clarified API/docs, translating to fewer missed collisions, more consistent CI results, and clearer expectations for consumers of the library. Key outcomes include a fix to HasCollisions() with anchored geometries, stabilization of IrisNp2-related tests, updated shape documentation to explicitly cover finite measures and throws, and improved InertiaVisualizer handling of point masses.
4 Commits • 1 Features
Sep 1, 20252025-09 monthly summary for RobotLocomotion/drake: Delivered robust collision detection, stabilized tests, improved mass visualization, and clarified API/docs, translating to fewer missed collisions, more consistent CI results, and clearer expectations for consumers of the library. Key outcomes include a fix to HasCollisions() with anchored geometries, stabilization of IrisNp2-related tests, updated shape documentation to explicitly cover finite measures and throws, and improved InertiaVisualizer handling of point masses.
September 2025
August 2025
3 Commits • 1 Features
Aug 1, 2025August 2025 performance highlights focusing on reliability, maintainability, and future-ready IK capabilities. Key efforts stabilized test infrastructure and progressed the DifferentialInverseKinematicsSystem (DiffIK) toward a more introspective, migration-friendly API with bindings, tests, and documentation to guide teams toward the modern framework.
August 2025
3 Commits • 1 Features
Aug 1, 2025August 2025 performance highlights focusing on reliability, maintainability, and future-ready IK capabilities. Key efforts stabilized test infrastructure and progressed the DifferentialInverseKinematicsSystem (DiffIK) toward a more introspective, migration-friendly API with bindings, tests, and documentation to guide teams toward the modern framework.
July 2025
4 Commits • 2 Features
Jul 1, 2025July 2025 monthly summary for RobotLocomotion/drake: DIK framework integration with Python bindings, release notes/docs for v1.43.0, and foundation for future releases.
4 Commits • 2 Features
Jul 1, 2025July 2025 monthly summary for RobotLocomotion/drake: DIK framework integration with Python bindings, release notes/docs for v1.43.0, and foundation for future releases.
July 2025
June 2025
4 Commits • 2 Features
Jun 1, 2025June 2025 monthly performance summary for RobotLocomotion/drake. Delivered four initiatives spanning geometry processing, rendering, and robot control, with a clear focus on reliability, accuracy, and scalable control. Key features include selective distance queries to compute the signed distance from a point to a targeted subset of geometries, and a Differential Inverse Kinematics (IK) Controller to drive robot arm motion with pose/velocity objectives under multiple constraints. Major fixes improve simulation fidelity and rendering correctness: LibCCD zero-epsilon bug fix with new tests to harden collision detection, and RenderEngineVtk rotation/scale concatenation fix to ensure correct mirrored rendering of glTF models. Collectively these efforts advance safe planning, precise geometry handling, and flexible arm control, delivering tangible business value through more accurate simulations and robust development workflows.
June 2025
4 Commits • 2 Features
Jun 1, 2025June 2025 monthly performance summary for RobotLocomotion/drake. Delivered four initiatives spanning geometry processing, rendering, and robot control, with a clear focus on reliability, accuracy, and scalable control. Key features include selective distance queries to compute the signed distance from a point to a targeted subset of geometries, and a Differential Inverse Kinematics (IK) Controller to drive robot arm motion with pose/velocity objectives under multiple constraints. Major fixes improve simulation fidelity and rendering correctness: LibCCD zero-epsilon bug fix with new tests to harden collision detection, and RenderEngineVtk rotation/scale concatenation fix to ensure correct mirrored rendering of glTF models. Collectively these efforts advance safe planning, precise geometry handling, and flexible arm control, delivering tangible business value through more accurate simulations and robust development workflows.
May 2025
3 Commits • 1 Features
May 1, 2025May 2025 monthly summary for RobotLocomotion/drake: Key features delivered, bugs fixed, and impact across modeling and simulation workflows. Focused on DofMask for MultibodyPlant, enabling selective masking of degrees of freedom, plus robust handling for weld joints in kinematics. The work strengthens modeling flexibility, correctness, and test coverage, delivering business value through improved reliability and capabilities for downstream users.
3 Commits • 1 Features
May 1, 2025May 2025 monthly summary for RobotLocomotion/drake: Key features delivered, bugs fixed, and impact across modeling and simulation workflows. Focused on DofMask for MultibodyPlant, enabling selective masking of degrees of freedom, plus robust handling for weld joints in kinematics. The work strengthens modeling flexibility, correctness, and test coverage, delivering business value through improved reliability and capabilities for downstream users.
May 2025
April 2025
10 Commits • 6 Features
Apr 1, 2025April 2025 monthly summary for RobotLocomotion/drake: Implemented core geometry scaling improvements, expanded rendering tutorials, added engine-parameter comparison tooling, exposed Python bindings, refreshed dependencies, and reinforced code quality. The work delivers tangible business value in modeling fidelity, user onboarding, debugging support, and maintainability.
April 2025
10 Commits • 6 Features
Apr 1, 2025April 2025 monthly summary for RobotLocomotion/drake: Implemented core geometry scaling improvements, expanded rendering tutorials, added engine-parameter comparison tooling, exposed Python bindings, refreshed dependencies, and reinforced code quality. The work delivers tangible business value in modeling fidelity, user onboarding, debugging support, and maintainability.
March 2025
8 Commits • 3 Features
Mar 1, 2025March 2025 monthly summary for RobotLocomotion/drake focusing on expanding geometry workflow capabilities, improving rendering robustness, and ensuring release-quality documentation. Key outcomes include enabling in-memory OBJ usage for rigid hydroelastic geometries to streamline user workflows; adding robust non-uniform scaling support across Mesh/Convex processing, constructors, and rendering; delivering v1.39.0 release documentation updates with corrected links and Doxygen alignment; and removing AddTendonConstraint from MultibodyPlant to revert an API change, enhancing stability and clarity for users. These changes enable faster iteration, broader geometry support, and better release quality, demonstrating strong proficiency in C++ geometry processing, rendering, testing, and documentation discipline.
8 Commits • 3 Features
Mar 1, 2025March 2025 monthly summary for RobotLocomotion/drake focusing on expanding geometry workflow capabilities, improving rendering robustness, and ensuring release-quality documentation. Key outcomes include enabling in-memory OBJ usage for rigid hydroelastic geometries to streamline user workflows; adding robust non-uniform scaling support across Mesh/Convex processing, constructors, and rendering; delivering v1.39.0 release documentation updates with corrected links and Doxygen alignment; and removing AddTendonConstraint from MultibodyPlant to revert an API change, enhancing stability and clarity for users. These changes enable faster iteration, broader geometry support, and better release quality, demonstrating strong proficiency in C++ geometry processing, rendering, testing, and documentation discipline.
March 2025
February 2025
8 Commits • 2 Features
Feb 1, 2025February 2025 (2025-02) monthly summary for RobotLocomotion/drake focusing on reliability, rendering realism, and developer experience. Key work spanned input validation, rendering model enhancements, documentation improvements, and test stabilization. Delivered robust non-finite value checks across SceneGraph, MultibodyPlant, and CollisionChecker with detailed runtime errors, enhanced rendering with Lambertian diffuse and preserved specular highlights for smooth materials, updated YAML serialization documentation for MemoryFile and Rgba, clarified show_rgb interaction with the render backend, and fixed test initialization for DiscreteTimeApproximation. Collectively, these efforts reduce runtime errors, improve user-facing clarity, and enable more realistic simulations, contributing to safer, more predictable workflows for users and developers.
February 2025
8 Commits • 2 Features
Feb 1, 2025February 2025 (2025-02) monthly summary for RobotLocomotion/drake focusing on reliability, rendering realism, and developer experience. Key work spanned input validation, rendering model enhancements, documentation improvements, and test stabilization. Delivered robust non-finite value checks across SceneGraph, MultibodyPlant, and CollisionChecker with detailed runtime errors, enhanced rendering with Lambertian diffuse and preserved specular highlights for smooth materials, updated YAML serialization documentation for MemoryFile and Rgba, clarified show_rgb interaction with the render backend, and fixed test initialization for DiscreteTimeApproximation. Collectively, these efforts reduce runtime errors, improve user-facing clarity, and enable more realistic simulations, contributing to safer, more predictable workflows for users and developers.
January 2025
5 Commits • 2 Features
Jan 1, 2025January 2025 (Month: 2025-01) - Drone: RobotLocomotion/drake focused on enabling robust data handling and geometry tooling, with solid improvements to YAML processing, Python bindings for geometry, and rendering reliability. Delivered concrete features, fixed key defects, and strengthened technical foundations that unlock downstream business value for users and teams relying on Drake's YAML interchange, geometry workflows, and rendering pipelines.
5 Commits • 2 Features
Jan 1, 2025January 2025 (Month: 2025-01) - Drone: RobotLocomotion/drake focused on enabling robust data handling and geometry tooling, with solid improvements to YAML processing, Python bindings for geometry, and rendering reliability. Delivered concrete features, fixed key defects, and strengthened technical foundations that unlock downstream business value for users and teams relying on Drake's YAML interchange, geometry workflows, and rendering pipelines.
January 2025
December 2024
4 Commits • 2 Features
Dec 1, 2024December 2024 (Month: 2024-12) Drake repository – the team delivered targeted improvements to rendering, parsing, and data interchange, with a focus on reliability, reproducibility, and interoperability. The updates enhance rendering fidelity, reduce noise in parsing, and broaden YAML-based configuration and serialization capabilities, enabling smoother automation and tooling workflows for simulation and analysis.
December 2024
4 Commits • 2 Features
Dec 1, 2024December 2024 (Month: 2024-12) Drake repository – the team delivered targeted improvements to rendering, parsing, and data interchange, with a focus on reliability, reproducibility, and interoperability. The updates enhance rendering fidelity, reduce noise in parsing, and broaden YAML-based configuration and serialization capabilities, enabling smoother automation and tooling workflows for simulation and analysis.
November 2024
4 Commits • 3 Features
Nov 1, 2024November 2024 monthly summary for RobotLocomotion/drake focusing on foundational improvements to build readability, geometry parsing robustness, and rendering customization, along with a code health fix to resolve a merge issue. Delivered concrete features across the build system, geometry APIs, and SDF rendering workflow, enabling smoother collaboration, faster iteration, and more maintainable geometry pipelines.
4 Commits • 3 Features
Nov 1, 2024November 2024 monthly summary for RobotLocomotion/drake focusing on foundational improvements to build readability, geometry parsing robustness, and rendering customization, along with a code health fix to resolve a merge issue. Delivered concrete features across the build system, geometry APIs, and SDF rendering workflow, enabling smoother collaboration, faster iteration, and more maintainable geometry pipelines.
November 2024
October 2024
1 Commits • 1 Features
Oct 1, 20242024-10 monthly summary for RobotLocomotion/drake: Delivered binary asset embedding in VTK header generation, enabling binary assets to be embedded as C++ arrays. Introduced data_to_header.py to convert assets into C++ headers and updated BUILD and tests to support the new workflow. This work improves rendering fidelity (e.g., SSAO textures) and simplifies asset management in builds, reducing runtime asset loading overhead.
October 2024
1 Commits • 1 Features
Oct 1, 20242024-10 monthly summary for RobotLocomotion/drake: Delivered binary asset embedding in VTK header generation, enabling binary assets to be embedded as C++ arrays. Introduced data_to_header.py to convert assets into C++ headers and updated BUILD and tests to support the new workflow. This work improves rendering fidelity (e.g., SSAO textures) and simplifies asset management in builds, reducing runtime asset loading overhead.
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Quality Metrics
Correctness96.2%
Maintainability92.8%
Architecture92.0%
Performance87.6%
AI Usage21.2%
Skills & Technologies
Programming Languages
BazelC++DoxygenGLSLHTMLJSONMarkdownPythonSkylarkStarlark
Technical Skills
3D Model Loading3D Modeling3D Rendering3D Visualization3D geometry manipulationAPI DesignAPI DevelopmentBazelBinary Data HandlingBug FixBug FixingBuild SystemBuild System ConfigurationBuild SystemsBuild Systems (Bazel)
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