Worked on the RobotLocomotion/drake repository to enhance trajectory and multibody system utilities using C++ and numerical methods. Developed new functionality for PiecewisePolynomial objects, enabling precise trimming and time-range slicing of trajectories through AddBreak and SliceByTime methods, which improved motion planning flexibility and efficiency. Additionally, focused on API usability by implementing a parent_frame getter for FixedOffsetFrame, along with comprehensive unit tests to ensure correct frame relationships. This work emphasized maintainability, test coverage, and consistent metadata access, supporting more robust simulation configurations. The contributions reflected a methodical approach to software engineering, emphasizing code clarity, extensibility, and reliable testing practices.