The Municipal Garden of Taipa is close to lots of other Taipa sights such as, Taipa Houses Museum, Taipa old village, and Our Lady of Carmel Church. It is also at one end of the Cotai Strip, and a short walk from the Venetian and the Galaxy casinos.
It is sometimes called the park next to the Taipa Houses Museum, the Baia de Nossa Senhora da Esperanca Wetland Ecological Viewing Zone, or the artificial lake next to the Taipa Houses Museum. Although I believe technically the artificial lake and the Baia de Nossa Senhora da Esperanca Wetland Ecological Viewing Zone are part of the Municipal Garden.
In front of the Taipa Houses Museum is what used to be the coastline. This is now an artificial lake, that is part of the Municipal Garden, with the Cotai Strip on the other side. There are also some signs you can see below, that tell about the lake.
This section of the garden is more developed, and often has gardeners working there. I don't know if these are all permanent structures they were building, or if some of them were seasonal. The sign above the bamboo entryway says "Taipa miniscape garden".
From the Cotai Strip, you can take Rua da Baia de Nossa Senhora de Esperanca, which runs next to the garden.
There is a moving walkway along Rua da Baia de Nossa Senhora de Esperanca, next to the garden. Take the pedestrian walkway between the Venetian and Galaxy, that goes over the road.