Worked on the moveit2 repository to improve internal correctness and maintainability, focusing on the PlanningScene stub in Python. Addressed a bug related to geometry save and load file path handling by correcting argument names, which ensures more reliable geometry persistence in future development. Enhanced type hinting throughout the stub files, contributing to clearer API contracts and reducing the risk of runtime errors. The work did not introduce new user-facing features but instead strengthened the codebase’s foundation. Emphasized traceability and maintainability by delivering a focused, well-documented commit, demonstrating attention to detail in stub file management and type hinting practices.