docs: def execute_state_machine_from_path(self, state_machine=None, path=None, start_state_path=None, wait_for_execution_finished=True):
          """ A helper function to start an arbitrary state machine at a given path.
  
          :param path: The path where the state machine resides
          :param start_state_path: The path to the state from which the execution will start
          :return: a reference to the created state machine
          """
  
          import rafcon.core.singleton
          from rafcon.core.storage import storage
          rafcon.core.singleton.library_manager.initialize()
          if not state_machine:
              state_machine = storage.load_state_machine_from_path(path)
              rafcon.core.singleton.state_machine_manager.add_state_machine(state_machine)
  
          rafcon.core.singleton.state_machine_execution_engine.start(
              state_machine.state_machine_id, start_state_path=start_state_path)
  
          if wait_for_execution_finished:
              self.join()
              self.stop()
          return state_machine