Worked on the esmini/esmini repository to enhance simulation reliability by addressing collision detection with ghost entities. Focused on refining the collision handling logic in C++ to ensure that objects marked as ghosts, identified by the isGhost_ flag, were excluded from collision checks. This adjustment prevented ghost objects from triggering false collision events, thereby reducing noise in collision reporting and improving the accuracy and stability of simulation results. Applied skills in game development and simulation to trace and document changes through commit messages, supporting better code maintainability and downstream analysis. The work contributed to a smoother user experience in simulation environments.