Kazunori Nakajima focused on configuration management for the tier4/autoware_launch repository, addressing safety concerns in the planning module. He updated the default behavior of dynamic obstacle avoidance by modifying the YAML-based default_preset configuration, disabling the feature by default to reduce unintended maneuvers and improve deployment predictability. This change was carefully documented in the commit history, outlining the rationale and ensuring that opt-in control remains available through presets. Working primarily with YAML and leveraging his expertise in configuration management, Kazunori’s targeted update enhanced the safety profile of standard deployments while maintaining flexibility for advanced users, reflecting a thoughtful, incremental engineering approach.