Developed and refined humanoid arm task-space control for the WATonomous/humanoid repository, focusing on a robust 6-DOF configuration to enable advanced manipulation tasks in simulation. Leveraged Python and robotics simulation skills to establish initial joint states and actuator settings, ensuring precise control of articulated joints. The work included refactoring configuration files to eliminate redundant hand-specific setup, which streamlined maintenance and reduced potential configuration drift. Test scripts were aligned and stabilized to improve simulation reliability and reproducibility. This foundational engineering effort supports higher fidelity simulations and lays the groundwork for future enhancements in artificial intelligence-driven robotic manipulation tasks.