Worked on the Genesis-Embodied-AI/Genesis repository, focusing on improving code quality and maintainability within the rigid solver decomposition path. Addressed a specific debugging issue by removing an unnecessary debug print statement from the get_links_acc function, which previously contributed to excessive log noise during execution. This targeted bug fix, implemented in Python, enhanced the clarity of execution output and streamlined the process of diagnosing issues in production environments. The change was scope-limited, ensuring that existing functionality and interfaces remained unaffected while improving the overall signal-to-noise ratio in logs. Demonstrated skills in code cleanup and debugging throughout the development process.