Worked on the moveit/moveit2 repository to enhance polyline-based trajectory generation for robotic motion planning. Developed and integrated the POLYLINE command within the Pilz planner, enabling the creation of Cartesian trajectories from polyline paths. Implemented robust offset handling to ensure waypoint calculations accurately account for target point offsets, improving the precision and flexibility of space trajectory workflows. The work focused on C++ development within the ROS ecosystem, leveraging motion planning and robotics expertise. These enhancements addressed the need for more accurate and adaptable robot path planning in industrial applications, contributing a single, well-scoped feature during the development period.