This Seeking Tech guide will explain how you can unlock the Jak Be Nimble trophy.
Use the following video as a reference:
For the first step, make your way to the broken bridge that connects to the Forbidden Temple.
Next, you need to use the Blue Eco to rebuild the bridge.
Afterwards, you need to climb to the top of the tower without running out of Blue Eco. Make sure to break any crates along the way as these may contain refills.
If you messed up, then you can use the rewind feature to start over.