async executeAction(siid, aiid, additionalParameters) {
        const res = await this.robot.sendCommand("action", {
            did: this.robot.deviceId,
            siid: siid,
            aiid: aiid,
            in: additionalParameters ?? []
        });

        if (res.code !== 0) {
            throw new RobotFirmwareError("Error code " + res.code);
        }
    }
@param {number} siid
@param {number} aiid
@param {Array<*>} [additionalParameters]
@returns {Promise<void>}