Over a two-month period, contributed to the WATonomous/humanoid and WATonomous/wato_monorepo repositories by developing a CPU-based Gazebo simulation workflow and an MPC-driven autonomous driving framework. Leveraged Docker, Python, and CasADi to integrate CARLA simulation and model predictive control, enabling end-to-end planning and scalable CI testing without GPU dependencies. Additionally, addressed configuration stability in wato_monorepo by implementing a shell-based reset mechanism in watod-config.sh, which improved startup reliability and incident remediation. The work focused on enhancing simulation accessibility, streamlining development, and strengthening deployment robustness through targeted configuration management and automation using Shell scripting and YAML configuration files.