Worked on the ucb-bar/IsaacLab repository to enhance the stability and correctness of the ObservationManager component. Addressed a critical bug where the history buffer could be corrupted by external calls to the compute method, implementing an update_history gating flag to ensure that only ManagerBasedEnv can modify history updates. This approach reduced the risk of data integrity issues in experiments dependent on accurate history tracking. Added regression tests to verify the robustness of the fix and prevent future regressions. Utilized Python, TOML, and reStructuredText, applying skills in bug fixing, data handling, environment management, and testing throughout the development process.