Zoe Frottier developed and integrated a new 'clam' tool within the EPFLXplore/ERC_HD robotics repository, focusing on enhancing the tool pickup pipeline and updating the Tool class to support additional properties and improved state transitions. Using Python and ROS, Zoe refactored the attachment and retraction logic to reduce inconsistencies during tool operations, and introduced a simulation mode to enable hardware-free testing, thereby lowering integration risks. The work included code cleanup and subproject reference updates, improving maintainability and extensibility for future tool additions. This engineering effort streamlined hardware-tool integration and enabled safer, faster validation of robotic tool manipulation workflows.