Contributed to the RobotLocomotion/drake repository by developing the SceneGraphInspector::GetParentFrame API, which allows retrieval of a frame’s parent by its ID to improve navigation and diagnostics within the scene graph hierarchy. The work involved implementing the core C++ functionality and providing Python bindings to ensure accessibility across different workflows. By exposing parent-frame lookup, the update enhanced debugging capabilities and maintainability for users working with complex frame relationships. The approach emphasized robust unit testing to validate the new API’s correctness and integration. This focused contribution addressed a specific need for more efficient hierarchy management in Drake’s scene graph system.