Worked on the eclipse-zenoh/zenoh-pico repository to enhance stability and correctness in ESP-IDF integration by addressing a critical bug in condition variable timeout handling. Focused on aligning timeout calculations between CLOCK_MONOTONIC and CLOCK_REALTIME, the developer improved reliability for multithreaded applications running on embedded systems. The solution involved removing ineffective clock attribute settings and converting durations to a consistent deadline, ensuring accurate timeout behavior across clock domains. Using C programming and multithreading techniques, the patch reduced timeout-related issues and support overhead. The work was reviewed and merged after clear technical rationale, demonstrating careful attention to detail and system-level reliability.