Worked on the newton-physics/newton repository to enhance the accuracy and maintainability of physics simulation tools, focusing on the URDF parser. Refactored the parser to use default_body_armature for non-static link inertia calculations, improving the fidelity of robotics simulations. Updated locomotion validation tests by shifting from exact velocity checks to range-based validations, increasing robustness against simulation variability. Consolidated and integrated tests into example scripts, removing obsolete files to streamline maintenance and reduce test fragility. Utilized Python for both code refactoring and test development, applying skills in robotics, physics simulation, and URDF parsing to deliver more reliable and maintainable simulation workflows.