code: def generate_observation_from_state(self, state_index):
          
          observation = self.sigmas[state_index] * np.random.randn() + self.means[state_index]
          return observation
docs: Generate a single synthetic observation data from a given state.
  
          Parameters
          ----------
          state_index : int
              Index of the state from which observations are to be generated.
  
          Returns
          -------
          observation : float
              A single observation from the given state.
  
          Examples
          --------
  
          Generate an observation model.
  
          >>> output_model = GaussianOutputModel(nstates=2, means=[0, 1], sigmas=[1, 2])
  
          Generate sample from a state.
  
          >>> observation = output_model.generate_observation_from_state(0)