Worked on the StanfordVL/OmniGibson repository to deliver integration of the Tiago robot with Curobo, enabling advanced navigation, grasping, and manipulation capabilities through complex motion planning. Leveraged Python and robotics simulation skills to implement API integration across the codebase, introducing Tiago-specific example scripts and expanding the testing framework to support new configurations. Enhanced developer workflows by increasing testing coverage and providing robust example scenarios tailored to Tiago, which improved both reliability and development velocity. The work focused on seamless integration and practical demonstration of motion planning features, addressing the need for flexible, testable robotic manipulation within the OmniGibson simulation environment.