Gayar Usmanov enhanced the moveit_core module within the moveit/moveit2 repository by implementing const-correctness across its codebase. Focusing on C++ and leveraging his expertise in robotics and software engineering, he systematically added const qualifiers to non-modifying methods, ensuring that object state remains unchanged where appropriate. This approach improved code safety by reducing the risk of unintended side effects and opened opportunities for compiler optimizations. Although the work spanned a single feature and did not involve bug fixes, it contributed to the maintainability and reliability of the code, supporting the long-term efficiency goals of the moveit2 robotics framework.