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How to unlock abilities from the Skill tree
If you reach a point in your Skill Orb tree that is blocked with a red lock icon, the only way to acquire such skill is by training. Go to the Wasteland and travel to Cassandra (southeast town from Eden). There you'll find Toki. Speak to him and choose the option "Train with Toki" to engage in battle. He will teach you a new skill which will then be unlocked without using orbs.