menloresearch/mujoco-wasm
Oct 2024 – Apr 2025
6 Months active
Languages Used
CC#C++JAXPythonRSTRstrst
Technical Skills
API DevelopmentC#C++C/C++ developmentDocumentationGeometry
Taylor Howell
PROFILE
Taylor Howell
Taylor Howell contributed to the menloresearch/mujoco-wasm repository, developing and refining simulation features for robotics and physics modeling. Over six months, Taylor engineered robust APIs and enhanced numerical stability, focusing on tendon and muscle actuator modeling, sparse matrix operations, and sensor integration. Using C++, Python, and JAX, Taylor implemented dense-to-sparse matrix conversion, elliptic cone contact forces, and tendon force sensing, while also improving error handling and documentation. The work addressed memory efficiency, simulation accuracy, and code maintainability, with careful attention to test coverage and code hygiene. Taylor’s contributions enabled more realistic, reliable, and extensible simulation capabilities for the project.
Overall Statistics
Feature vs Bugs
61%Features
Repository Contributions
25Total
Bugs
7
Commits
25
Features
11
Lines of code
3,166
Activity Months6
Your Network
4184 people
Work History
April 2025
6 Commits • 2 Features
Apr 1, 2025April 2025 monthly summary for menloresearch/mujoco-wasm: Highlights include tendon actuator force control and measurement in MJX, inverse dynamics enhancements, and a bug fix ensuring correct handling of FRAMELINACC and FRAMEANGACC sensors. These changes improve realism, observability, and simulation capabilities, enabling more accurate design validation and faster iteration. Also included test cleanup and documentation updates to reflect new capabilities.
6 Commits • 2 Features
Apr 1, 2025April 2025 monthly summary for menloresearch/mujoco-wasm: Highlights include tendon actuator force control and measurement in MJX, inverse dynamics enhancements, and a bug fix ensuring correct handling of FRAMELINACC and FRAMEANGACC sensors. These changes improve realism, observability, and simulation capabilities, enabling more accurate design validation and faster iteration. Also included test cleanup and documentation updates to reflect new capabilities.
April 2025
March 2025
1 Commits • 1 Features
Mar 1, 2025March 2025 monthly summary for menloresearch/mujoco-wasm: Focused on code quality and maintainability improvements. Delivered a precise alignment of the nflexnode comment in mjmodel.h to ensure consistency with nearby comments, reducing cognitive load during reviews and lowering maintenance costs. No major bugs fixed this month; effort centered on standardization and documentation alignment to support onboarding and future development.
March 2025
1 Commits • 1 Features
Mar 1, 2025March 2025 monthly summary for menloresearch/mujoco-wasm: Focused on code quality and maintainability improvements. Delivered a precise alignment of the nflexnode comment in mjmodel.h to ensure consistency with nearby comments, reducing cognitive load during reviews and lowering maintenance costs. No major bugs fixed this month; effort centered on standardization and documentation alignment to support onboarding and future development.
January 2025
3 Commits • 2 Features
Jan 1, 20252025-01 monthly summary for menloresearch/mujoco-wasm: delivered stability improvements for MJX tendon and muscle actuators, usability enhancements for humanoid model loading in the MJX tutorial, and internal wrapping support for spatial tendons. These changes improved simulation robustness, onboarding experience, and tendon modeling capabilities, supported by tests and model-structure updates. The work demonstrates strong integration of numerical methods, WebAssembly/MuJoCo integration, and test-driven development.
3 Commits • 2 Features
Jan 1, 20252025-01 monthly summary for menloresearch/mujoco-wasm: delivered stability improvements for MJX tendon and muscle actuators, usability enhancements for humanoid model loading in the MJX tutorial, and internal wrapping support for spatial tendons. These changes improved simulation robustness, onboarding experience, and tendon modeling capabilities, supported by tests and model-structure updates. The work demonstrates strong integration of numerical methods, WebAssembly/MuJoCo integration, and test-driven development.
January 2025
December 2024
3 Commits
Dec 1, 2024December 2024 monthly summary for menloresearch/mujoco-wasm: Delivered stability and data integrity improvements in the MJX module. Implemented error handling for unsupported constraint combinations and corrected actuator moment data access, along with comprehensive documentation updates to improve developer experience and user safety. These changes reduce runtime errors, enhance simulation accuracy, and support broader adoption of MJX in constrained scenarios.
December 2024
3 Commits
Dec 1, 2024December 2024 monthly summary for menloresearch/mujoco-wasm: Delivered stability and data integrity improvements in the MJX module. Implemented error handling for unsupported constraint combinations and corrected actuator moment data access, along with comprehensive documentation updates to improve developer experience and user safety. These changes reduce runtime errors, enhance simulation accuracy, and support broader adoption of MJX in constrained scenarios.
November 2024
6 Commits • 3 Features
Nov 1, 20242024-11 Monthly Summary: Mujoco-wasm focused on memory efficiency, realism in muscle simulation, solver capability, and code stability. The team delivered notable enhancements across sparse data handling, MJX muscle actuators, solver extensions, and header dependencies, positioning the project for improved performance and broader applicability.
6 Commits • 3 Features
Nov 1, 20242024-11 Monthly Summary: Mujoco-wasm focused on memory efficiency, realism in muscle simulation, solver capability, and code stability. The team delivered notable enhancements across sparse data handling, MJX muscle actuators, solver extensions, and header dependencies, positioning the project for improved performance and broader applicability.
November 2024
October 2024
6 Commits • 3 Features
Oct 1, 2024In October 2024, the mujoco-wasm project delivered significant API surfaces, physics capabilities, and reliability improvements. Key work included enabling safer dense-to-sparse conversion, adding ellipsoid ray intersection and elliptic cone contact forces, plus targeted bug fixes and quality improvements that enhance bindings, stability, and simulation fidelity.
October 2024
6 Commits • 3 Features
Oct 1, 2024In October 2024, the mujoco-wasm project delivered significant API surfaces, physics capabilities, and reliability improvements. Key work included enabling safer dense-to-sparse conversion, adding ellipsoid ray intersection and elliptic cone contact forces, plus targeted bug fixes and quality improvements that enhance bindings, stability, and simulation fidelity.
Activity
Loading activity data...
Quality Metrics
Correctness96.0%
Maintainability92.0%
Architecture93.2%
Performance89.2%
AI Usage20.0%
Skills & Technologies
Programming Languages
CC#C++JAXPythonRSTRstrst
Technical Skills
API DevelopmentBackend DevelopmentBug FixBuild SystemsCC DevelopmentC ProgrammingC#C++C++ (via MJX bindings)C++ DevelopmentC/C++C/C++ developmentCode HygieneCode Refactoring
Repositories Contributed To
Overview of all repositories you've contributed to across your timeline