Jorge Virgos enhanced the carla-simulator/carla repository by delivering two core features focused on simulation data fidelity and rendering consistency. He developed the GetVehicleBoneWorldTransforms API in C++ to provide world-space skeletal data access for vehicles, addressing bone transformation mismatches and improving the accuracy of simulation analytics. Additionally, he configured Unreal Engine’s DefaultEngine.ini to enable segmentation rendering by default, ensuring reproducible segmentation data across all simulation runs. His work combined C++ development, configuration management, and simulation expertise, resulting in more reliable data pipelines and streamlined debugging for perception and animation workflows within the Carla simulation environment.