Revert "Merge branch 'robot'"

This reverts commit 88b19411709442328050faaab1f995656f3f9539, reversing
changes made to 94584cb7840638e88431c710a464605f6e82c280.
Revert "old classes reintroduced"

This reverts commit 94584cb7840638e88431c710a464605f6e82c280.
Revert "merged with hmm_model"

This reverts commit b65e7a6161118240d63bc3864e28fb67daeee53b, reversing
changes made to 72b982d821068934268cb7434ea3c35a3f66794c.