Worked on stabilizing the vector library migration in the facebookresearch/habitat-lab repository, focusing on the transition from Eigen to Magnum vectors within core robotics simulations. Addressed a critical bug by implementing a stability fix that preserved numerical correctness and data integrity during the migration. Refactored quaternion conversions and ensured that position data was consistently managed as NumPy arrays, reducing the risk of computational errors. This work laid the foundation for broader modernization of the vector stack, improving maintainability and test coverage. Utilized Python, simulation frameworks, and vector math expertise to support a seamless migration process without introducing new features.