Worked on the IsaacLab repository to enhance simulation reliability by addressing a critical issue in environment index resolution within the Articulation class. Applied Python debugging skills to ensure indices were correctly created and passed to simulation functions, such as write_root_com_pose_to_sim, thereby improving data integrity throughout the robotics simulation workflow. Updated and expanded test coverage to handle environment ID selection during simulation updates, which increased early error detection and overall test robustness. Focused on stabilizing the simulation process by reducing indexing-related errors, leveraging expertise in Python, robotics simulation, and testing to deliver a more dependable and maintainable codebase.