Worked on the ucb-bar/IsaacLab repository to enhance the reliability and correctness of simulation state handling for articulated-object robotics simulations. Focused on a critical bug fix, the developer addressed an issue where joint position and velocity targets were not properly reset during scene resets, which previously led to stale initial states and inconsistent simulation outcomes. Using Python and leveraging skills in physics and robotics simulation, the solution ensured that all relevant joint states are reset together, improving reproducibility and reducing downstream debugging time. The work included targeted testing and peer review, emphasizing code health and maintainability over the course of the month.