Worked on the facebookresearch/habitat-lab repository to enhance visualization tooling by expanding the DebugVisualizer.peek() function. The update enabled the function to accept a 3D bounding box (mn.Range3D) as a subject, allowing researchers to visualize and compare decomposed parts versus whole objects with greater flexibility. The implementation focused on correct handling of bounding box inputs and their associated transforms, improving the accuracy and reliability of visual outputs. Leveraged Python and simulation skills to ensure robust integration and validation through targeted tests. This work supported more efficient debugging and verification processes for research and quality assurance within the simulation environment.