Johanna Schwarz focused on enhancing the developer experience and maintainability of the una-auxme/paf repository by consolidating and improving documentation for the Global Planner, local planning, and Collision Check components. She introduced a new diagram to clarify the relationship between global and local planning, and refined responsibilities, data flow descriptions, and interfaces throughout the documentation and Python docstrings. Leveraging her skills in code refactoring, documentation, and ROS, Johanna’s work improved usability for both users and integrators. The depth of her contributions lies in the thoroughness of the documentation updates, which support onboarding, future feature development, and long-term project sustainability.