Felix Mauch focused on improving dependency management in the moveit/moveit2 repository by removing the unused gripper_controllers dependency. This work involved careful analysis of the package’s build configuration and alignment with upstream changes to ensure consistency and reduce maintenance overhead. By eliminating unnecessary dependencies, Felix streamlined the CMake and package.xml files, reducing the build surface and simplifying future updates. The cleanup, implemented using CMake and XML, addressed technical debt and improved repository hygiene. While the scope was targeted, the work laid a foundation for easier onboarding of new contributors and safer, more maintainable releases in the MoveIt2 ecosystem.