fixed issues now that Behavior doesnt have a @robot property
explicit state machine transitions
added basic graphviz generation
fsm graphviz output now clusters based on state inheritance
fixed transition condition checking
added graphviz png writing to test.py
label parent behaviors with module name
added on_enter_cancelled for BehaviorSequence
improved state transitions for PivotKick
diagrams now go in their own directory and are not tracked in git