Zoe Frottier developed and integrated a new 'clam' tool within the EPFLXplore/ERC_HD robotics repository, focusing on enhancing the tool pickup pipeline and improving hardware-tool interaction. Using Python and ROS, Zoe refactored the Tool class to support additional properties and updated the ToolPickup logic to handle attachment and retraction more reliably. She enabled a simulation mode, allowing for hardware-free testing and reducing integration risks. Her work included code cleanup and subproject reference updates, which improved maintainability and set the stage for future tool expansion. This effort streamlined tool onboarding and contributed to safer, more efficient robotics development workflows.