Compose Tools into a Skill
Use a skill when one action should orchestrate several tool calls, inspect intermediate results, and retain progress. The current API replaces the old ToolExecution(..., redo=...) pattern with explicit skill execution.
Read pageChange and Preserve Environment State
Choose the mechanism matching the cause of the change.
Read pageInject a Temporary Tool Failure
Begin with one temporary execution error before adding perception or accessibility changes.
Read pageCoordinate Robots and Shared Resources
First make each tool work on one robot. Then specify robot identity and how simultaneous calls share resources.
Read pageUse Articulated Objects
An articulated object exposes more than a rigid actor pose: tools and goals may need joint positions, limits, and machine state. Define that observation contract in your own environment module.
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