Worked on refining motion planning workflows in the PickNikRobotics/moveit_pro_example_ws repository, focusing on improving planning-scene readiness for UR-based robotic systems. Enhanced the ur_waypoints.yaml configuration by renaming and documenting waypoints to clarify named poses and joint positions, supporting more reliable object manipulation tasks such as picking and placing. This approach reduced ambiguity in movement objectives and improved repeatability for robotic actions. Incorporated objectives for collision object integration, laying groundwork for safer and more robust planning. Utilized YAML for configuration management and applied expertise in motion planning and robotics to strengthen the foundation for future development and workflow reliability.