During June 2025, Wenhao Hou focused on improving the reliability of articulated-object simulations in the ucb-bar/IsaacLab repository. He addressed a critical issue in the scene reset logic by ensuring that joint position and velocity targets were properly reset alongside joint states, eliminating stale initial conditions that previously affected simulation reproducibility. This work involved targeted Python scripting and in-depth testing of the physics simulation framework, with careful peer review to maintain code quality. By refining the reset_scene_to_default() function, Wenhao enhanced the stability of robotics simulations, reducing downstream debugging time and contributing to more consistent experimental results.