Robot state machine

state_machine.py

from transitions import Machine
import random
import numpy as np
class RobotModel(object):

    # Define some states. Most of the time, narcoleptic superheroes are just like
    # everyone else. Except for...
    states = ['LeftY', 'LeftN', 'MidY', 'MidN', 'RightY','RightN']

    def __init__(self):


        # Initialize the state machine
        self.machine = Machine(model=self, states=RobotModel.states, initial='RightN')
        #RightN
        self.machine.add_transition(trigger='picked_up_page', source='RightN', dest='RightY')
        
        #RightY
        self.machine.add_transition('moved_to_middle_w_page', 'RightY', 'MidY')

        #MidN
        self.machine.add_transition('moved_to_start', 'MidN', 'RightN')

        #MidY
        self.machine.add_transition('dropped_page', 'MidY', 'MidN')
        self.machine.add_transition('moved_to_left_w_page', 'MidY', 'LeftY')
        
        #LeftY
        self.machine.add_transition('released_page', 'LeftY', 'LeftN')
        
        #LeftN
        self.machine.add_transition('moved_to_middle_wo_page', 'LeftN', 'MidN')
    def step(self):
        print(self.state)
        if self.state=="RightN":
            if random.random() < 0.5:
                print("picked_up_page")
                self.picked_up_page()
        if self.state=="RightY":
            if random.random() < 0.5:
                print("moved_to_middle_w_page")
                self.moved_to_middle_w_page()
        if self.state=="MidY":
            action = np.random.choice(["Stay","Drop","Move"],p=[0.4,0.4,0.2])
            if action=="Drop":
                print("dropped_page")
                self.dropped_page()
            if action=="Move":
                print("moved_to_left_w_page")
                self.moved_to_left_w_page()
        if self.state=="MidN":
            if random.random() < 0.5:
                print("moved_to_start")
                self.moved_to_start()

        if self.state=="LeftY":
            if random.random() < 0.5:
                print("released_page")
                self.released_page()
                
        if self.state=="LeftN":
            if random.random() < 0.5:
                print("moved_to_middle_wo_page")
                self.moved_to_middle_wo_page()
                
import time

robot = RobotModel()
while True:
    time.sleep(0.1)
    robot.step()