Worked on the EPFLXplore/ERC_HD repository to deliver integration of a new 'clam' tool and a comprehensive refactor of the tool pickup pipeline. Leveraging Python and ROS, the developer updated the Tool class to support new properties, improved attachment and retraction handling, and enabled simulation mode for hardware-free testing. Adjustments to the StraightMoveCommand enhanced tool manipulation, while targeted cleanup in ToolPickup and subproject references improved maintainability and extensibility. This work streamlined hardware-tool integration, reduced the risk of misconfiguration, and accelerated validation, providing a safer and more efficient process for onboarding new tools within robotics software engineering workflows.