Worked on the carla-simulator/carla repository to deliver two core features focused on simulation data fidelity and rendering consistency. Developed a C++ API for retrieving vehicle bone transforms in world space, addressing transformation mismatches to ensure accurate skeletal data access for vehicles within Unreal Engine simulations. Additionally, configured segmentation rendering to be enabled by default through DefaultEngine.ini, guaranteeing consistent segmentation data generation across all simulation runs. These enhancements streamline analytics, debugging, and AI perception workflows by improving data reproducibility and reliability. The work demonstrated expertise in C++, configuration management, simulation systems, and Unreal Engine integration, with a focus on robust engineering solutions.