Worked on the moveit/moveit2 repository to deliver dynamic trajectory execution parameterization, enabling granular control over motion planning in robotics applications. Developed features in C++ and CMake that introduced per-joint start tolerance parameters with dynamic updates, allowing for more precise configuration of trajectory timing. Implemented a mechanism to load per-controller timing parameters, such as execution duration scaling and goal duration margin, by iterating through known controllers to retrieve these settings. This approach ensured compatibility with global tolerances and reduced the need for manual tuning across controllers, enhancing configuration management and flexibility within ROS-based robotic systems during the development period.