During June 2025, Daniel Dusd focused on stabilizing the path planning logic in the tritonuas/obcpp repository, addressing a critical bug by removing unstable dynamic path generation components. He disabled RRT path generation, deviation handling, and initial angle calculations, shifting the system to iterate through predefined goals rather than dynamically generated paths. This C++-based refactor simplified the robotics codebase, reduced runtime unpredictability, and established clearer testing boundaries. Daniel documented the rationale behind these changes, aligning stakeholders for future development. His work improved maintainability and set the stage for a safer, more robust approach to path planning in robotics applications.