Developed new Factory environments for contact-rich robotic manipulation tasks within the IsaacLab repository, focusing on scenarios such as peg insertion, gear meshing, and nut threading. Leveraged Isaac Sim and Python to implement detailed task configurations, environment registration, and control logic, enabling realistic simulation of complex manipulation pipelines. Updated project documentation to support onboarding of new contributors and facilitate broader collaboration. The work expanded the testing capabilities for reinforcement learning and robotics research, reducing integration time for new features. No major bugs were addressed during this period, with efforts concentrated on feature development and strengthening the foundation for future simulation enhancements.