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Finally, the last component of the action package is the ActionRunner. It allows you to run regular and waiting actions right away with run_action() and run_waiting_action() respectively. It takes the same input as the ActionFactory methods, because that is being called under the hood first. ActionRunner also allows you to preload a set of actions, run them in parallel, and wait for all of the waiting actions (not regular actions) to finish before continuing. use load_waiting_action() and load_waiting_action() to preload actions and run_loaded_actions() to run them.
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sic = BasicSICConnector(server_ip, robot)
action_runner = ActionRunner(sic)
action_runner.run_waiting_action('say', 'Hello, Action Runner!',
additional_callback=hello_action_runner_callback)
# run_waiting_action('say', ...) waits to finish talking before continuing
def hello_action_runner_callback():
print('Hello Action Runner Done')
# The following actions will run in parallel.
action_runner.load_waiting_action('wake_up')
action_runner.load_waiting_action('set_eye_color', 'green')
action_runner.load_waiting_action('say', 'I am standing up now')
action_runner.run_loaded_actions() # If you want to keep an action sequence for reuse, add clear=False as input.
action_runner.run_action('say', 'I will start sitting down as I say this. Because I am not a waiting action')
action_runner.run_action('set_eye_color', 'white')
action_runner.run_waiting_action('rest')
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