How can we generate an activity along with inventory within "install" or "customer" pool

Summary:

Has anyone tried to create an inventory along with an activity creation?

Content (please ensure you mask any confidential information):

How can we simultaneously create an activity and associated inventory items within either the "install" or "customer" pool? When attempting to create both an activity and inventory for the new activity, we used a temporary ID that had been used as "inv_aid" but encountered an error. We used the same method that had been shown in the documentation in the close method https://docs.oracle.com/en/cloud/saas/field-service/fapcf/c-supportedactivityactions.html#SupportedActivityActions-C0E61373 . But shows up 'CODE_ACTION_PARAM_VALUE_INVALID' and 'CODE_ACTION_INVENTORY_ACTIVITY_UNKNOWN' errors.