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The connection to the server wasn't ready, so the goal does not arrive at the server, and the code waits for a result that would never come. Don't waste hours like me, wait for your action servers after starting up your clients or before calling.

class ExampleClass(object):
  def __init__(self):
    self.pick_client = actionlib.SimpleActionClient('/o2as_skills/pick', o2as_skills.msg.pickAction)
    self.pick_client.wait_for_server()