Sadra contributed targeted enhancements to the RobotLocomotion/drake repository, focusing on trajectory manipulation and multibody system APIs. Over two months, Sadra developed C++ features to trim PiecewisePolynomial trajectories, introducing AddBreak and SliceByTime methods that enable precise time-range slicing for motion planning pipelines. This work improved the flexibility and efficiency of trajectory utilities, supporting partial trajectory reuse and faster planning cycles. Additionally, Sadra implemented a parent_frame getter for FixedOffsetFrame, along with comprehensive unit tests, enhancing API inspectability and maintainability. The work demonstrated depth in C++ and numerical methods, with careful attention to robust software engineering and testing practices.