Worked on refactoring the Gazebo URDF environment configuration for the WATonomous/humanoid repository, focusing on improving clarity and maintainability within robotics simulation workflows. The approach involved standardizing joint and link naming conventions and updating the root tag to 'environment' in the URDF files, which reduced configuration errors and streamlined future development. By addressing inconsistencies in the simulation environment, the changes supported more reliable simulation runs and facilitated faster onboarding for new contributors. The work leveraged skills in robotics, simulation, and URDF, resulting in a cleaner, more organized configuration that enhances maintainability and efficiency for ongoing and future projects.