In December 2024, Matthew Noseworthy developed new Factory environments for contact-rich robotic manipulation tasks in the isaac-sim/IsaacLab repository, focusing on scenarios such as peg insertion, gear meshing, and nut threading. He implemented task configurations, environment registration, and control logic using Python and Isaac Sim, enabling realistic simulation of complex manipulation pipelines. His work included updating documentation and onboarding new contributors, which improved team collaboration and knowledge transfer. By expanding the suite of test environments, Matthew reduced feature integration time and enhanced the project’s ability to evaluate reinforcement learning and robotics algorithms in challenging, industrially relevant simulation settings.