tutorials from cadCAD-Tutorials repo + fixed links

simulations/validation/conviction_cadCAD.ipynb

@@ -34,7 +34,7 @@
     "\n",
     "cadCAD is a Python library that assists in the processes of designing, testing and validating complex systems through simulation. At its core, cadCAD is a differential games engine that supports parameter sweeping and Monte Carlo analyses and can be easily integrated with other scientific computing Python modules and data science workflows.\n",
     "\n",
-    "To learn more about cadCAD, follow our [tutorial series](https://github.com/BlockScience/cadCAD-Tutorials/tree/master/01%20Tutorials)\n",
+    "To learn more about cadCAD, follow our [tutorial series](../../tutorials)\n",
     "\n",
     "**Installing cadCAD:**\n",
     "\n",

tutorials/README.md

@@ -0,0 +1,10 @@
+**Robot and Marbles Tutorial Series**
+
+In this series, we introduce basic concepts of cadCAD and system modelling in general using a simple toy model.  
+[Part 1](robot-marbles-part-1/robot-marbles-part-1.ipynb) - States and State Update Functions  
+[Part 2](robot-marbles-part-2/robot-marbles-part-2.ipynb) - Actions and State Dependent Policies  
+[Part 3](robot-marbles-part-3/robot-marbles-part-3.ipynb) - From Synchronous to Asynchronous Time  
+[Part 4](robot-marbles-part-4/robot-marbles-part-4.ipynb) - Uncertainty and Stochastic Processes  
+[Part 5](robot-marbles-part-5/robot-marbles-part-5.ipynb) - Using class objects as state variables  
+
+Check out the [videos](videos) folder for detailed walkthroughs of each one of the tutorials.

tutorials/videos/robot-marbles-part-1/README.md

@@ -0,0 +1 @@
+(https://youtu.be/uJEiYHRWA9g)

tutorials/videos/robot-marbles-part-1/config.py

@@ -0,0 +1,85 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 1, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+
+# Mechanisms
+def update_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    x = s['box_A'] + add_to_A
+    return (y, x)
+
+def update_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    add_to_B = 0
+    if (s['box_B'] > s['box_A']):
+        add_to_B = -1
+    elif (s['box_B'] < s['box_A']):
+        add_to_B = 1
+    x = s['box_B'] + add_to_B
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { 
+        },
+        'variables': { # The following state variables will be updated simultaneously
+            'box_A': update_A,
+            'box_B': update_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-1/config2.py

@@ -0,0 +1,85 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 1, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+
+# Mechanisms
+def update_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    x = s['box_A'] + add_to_A
+    return (y, x)
+
+def update_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    add_to_B = 0
+    if (s['box_B'] > s['box_A']):
+        add_to_B = -1
+    elif (s['box_B'] < s['box_A']):
+        add_to_B = 1
+    x = s['box_B'] + add_to_B
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 11, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { 
+        },
+        'variables': { # The following state variables will be updated simultaneously
+            'box_A': update_A,
+            'box_B': update_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-2/README.md

@@ -0,0 +1 @@
+(https://youtu.be/Y5MzhVRQyzY)

tutorials/videos/robot-marbles-part-2/config.py

@@ -0,0 +1,85 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 1, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+def robot_arm(_g, step, sL, s):
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    return({'add_to_A': add_to_A, 'add_to_B': -add_to_A})
+    
+
+
+# Mechanisms
+def increment_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    x = s['box_A'] + _input['add_to_A']
+    return (y, x)
+
+def increment_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    x = s['box_B'] + _input['add_to_B']
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { # The following policy functions will be evaluated and their returns will be passed to the state update functions
+            'robot_arm': robot_arm
+        },
+        'states': { # The following state variables will be updated simultaneously
+            'box_A': increment_A,
+            'box_B': increment_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-2/config2.py

@@ -0,0 +1,87 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 1, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+def robot_arm(_g, step, sL, s):
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    return({'add_to_A': add_to_A, 'add_to_B': -add_to_A})
+    
+
+
+# Mechanisms
+def increment_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    x = s['box_A'] + _input['add_to_A']
+    return (y, x)
+
+def increment_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    x = s['box_B'] + _input['add_to_B']
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { # The following policy functions will be evaluated and their returns will be passed to the state update functions
+            'robot_arm_1': robot_arm,
+            'robot_arm_2': robot_arm
+        },
+
+        'states': { # The following state variables will be updated simultaneously
+            'box_A': increment_A,
+            'box_B': increment_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-2/configBlank.py

@@ -0,0 +1,71 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+}
+
+sim_config = config_sim({
+    'T': range(10), 
+    'N': 1
+})
+
+# Behaviors
+def robot_arm(_g, step, sL, s):
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    return({'add_to_A': add_to_A, 'add_to_B': -add_to_A})
+
+
+# Mechanisms
+def increment_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    x = s['box_A'] + _input['add_to_A']
+    return (y, x)
+
+def increment_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    x = s['box_B'] + _input['add_to_B']
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, 
+    'box_B': 0 
+}
+
+exogenous_states = {
+}
+
+
+env_processes = {
+}
+
+
+mechanisms = [
+    { 
+        'policies': { 
+            'robot_arm': robot_arm
+        },
+        'states': { 
+            'box_A': increment_A,
+            'box_B': increment_B
+        }
+    }
+]
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-3/README.md

@@ -0,0 +1 @@
+(https://youtu.be/wF539-K0qXs)

tutorials/videos/robot-marbles-part-3/config.py

@@ -0,0 +1,108 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 1, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+def robot_arm(_g, step, sL, s):
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    return({'add_to_A': add_to_A, 'add_to_B': -add_to_A})
+
+robots_periods = [2,3] # Robot 1 acts once every 2 timesteps; Robot 2 acts once every 3 timesteps
+
+def get_current_timestep(cur_substep, s):
+    if cur_substep == 1:
+        return s['timestep']+1
+    return s['timestep']
+
+def robot_arm_1(_g, step, sL, s):
+    _robotId = 1
+    if get_current_timestep(step, s)%robots_periods[_robotId-1]==0: # on timesteps that are multiple of 2, Robot 1 acts
+        return robot_arm(_g, step, sL, s)
+    else:
+        return({'add_to_A': 0, 'add_to_B': 0}) # for all other timesteps, Robot 1 doesn't interfere with the system
+
+def robot_arm_2(_g, step, sL, s):
+    _robotId = 2
+    if get_current_timestep(step, s)%robots_periods[_robotId-1]==0: # on timesteps that are multiple of 3, Robot 2 acts
+        return robot_arm(_g, step, sL, s)
+    else:
+        return({'add_to_A': 0, 'add_to_B': 0}) # for all other timesteps, Robot 2 doesn't interfere with the system
+
+
+
+# Mechanisms
+def increment_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    x = s['box_A'] + _input['add_to_A']
+    return (y, x)
+
+def increment_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    x = s['box_B'] + _input['add_to_B']
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { # The following policy functions will be evaluated and their returns will be passed to the state update functions
+            'robot_arm_1': robot_arm_1,
+            'robot_arm_2': robot_arm_2
+        },
+
+        'states': { # The following state variables will be updated simultaneously
+            'box_A': increment_A,
+            'box_B': increment_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-4/README.md

@@ -0,0 +1 @@
+(https://youtu.be/MLNTqqX47Ew)

tutorials/videos/robot-marbles-part-4/config.py

@@ -0,0 +1,103 @@
+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 1, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+def robot_arm(_g, step, sL, s):
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    return({'add_to_A': add_to_A, 'add_to_B': -add_to_A})
+
+robots_probabilities = [0.5,1/3] # Robot 1 acts with a 50% probability; Robot 2, 33.33%
+
+def robot_arm_1(_g, step, sL, s):
+    _robotId = 1
+    if np.random.rand()<robots_probabilities[_robotId-1]: # draw a random number between 0 and 1; if it's smaller than the robot's parameter, it acts
+        return robot_arm(_g, step, sL, s)
+    else:
+        return({'add_to_A': 0, 'add_to_B': 0}) # otherwise, the robot doesn't interfere with the system
+
+def robot_arm_2(_g, step, sL, s):
+    _robotId = 2
+    if np.random.rand()<robots_probabilities[_robotId-1]: # draw a random number between 0 and 1; if it's smaller than the robot's parameter, it acts
+        return robot_arm(_g, step, sL, s)
+    else:
+        return({'add_to_A': 0, 'add_to_B': 0}) # otherwise, the robot doesn't interfere with the system
+
+
+
+# Mechanisms
+def increment_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    x = s['box_A'] + _input['add_to_A']
+    return (y, x)
+
+def increment_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    x = s['box_B'] + _input['add_to_B']
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { # The following policy functions will be evaluated and their returns will be passed to the state update functions
+            'robot_arm_1': robot_arm_1,
+            'robot_arm_2': robot_arm_2
+        },
+
+        'states': { # The following state variables will be updated simultaneously
+            'box_A': increment_A,
+            'box_B': increment_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-4/config2.py

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+# import libraries
+from decimal import Decimal
+import numpy as np
+from datetime import timedelta
+from cadCAD.configuration import append_configs
+from cadCAD.configuration.utils import bound_norm_random, ep_time_step, config_sim
+
+seeds = {
+    # 'z': np.random.RandomState(1),
+    # 'a': np.random.RandomState(2)
+}
+
+sim_config = config_sim({
+    'T': range(10), #number of discrete iterations in each experiement
+    'N': 50, #number of times the simulation will be run (Monte Carlo runs)
+    #'M': g #parameter sweep dictionary
+})
+
+
+# define the time deltas for the discrete increments in the model
+# ts_format = '%Y-%m-%d %H:%M:%S'
+# t_delta = timedelta(days=0, minutes=1, seconds=0)
+# def time_model(_g, step, sL, s, _input):
+#     y = 'time'
+#     x = ep_time_step(s, dt_str=s['time'], fromat_str=ts_format, _timedelta=t_delta)
+#     return (y, x)
+
+# Behaviors
+def robot_arm(_g, step, sL, s):
+    add_to_A = 0
+    if (s['box_A'] > s['box_B']):
+        add_to_A = -1
+    elif (s['box_A'] < s['box_B']):
+        add_to_A = 1
+    return({'add_to_A': add_to_A, 'add_to_B': -add_to_A})
+
+robots_probabilities = [0.5,1/3] # Robot 1 acts with a 50% probability; Robot 2, 33.33%
+
+def robot_arm_1(_g, step, sL, s):
+    _robotId = 1
+    if np.random.rand()<robots_probabilities[_robotId-1]: # draw a random number between 0 and 1; if it's smaller than the robot's parameter, it acts
+        return robot_arm(_g, step, sL, s)
+    else:
+        return({'add_to_A': 0, 'add_to_B': 0}) # otherwise, the robot doesn't interfere with the system
+
+def robot_arm_2(_g, step, sL, s):
+    _robotId = 2
+    if np.random.rand()<robots_probabilities[_robotId-1]: # draw a random number between 0 and 1; if it's smaller than the robot's parameter, it acts
+        return robot_arm(_g, step, sL, s)
+    else:
+        return({'add_to_A': 0, 'add_to_B': 0}) # otherwise, the robot doesn't interfere with the system
+
+
+
+# Mechanisms
+def increment_A(_g, step, sL, s, _input):
+    y = 'box_A'
+    x = s['box_A'] + _input['add_to_A']
+    return (y, x)
+
+def increment_B(_g, step, sL, s, _input):
+    y = 'box_B'
+    x = s['box_B'] + _input['add_to_B']
+    return (y, x)
+
+# Initial States
+genesis_states = {
+    'box_A': 10, # as per the description of the example, box_A starts out with 10 marbles in it
+    'box_B': 0 # as per the description of the example, box_B starts out empty
+}
+
+exogenous_states = {
+    #'time': time_model
+}
+
+env_processes = {
+}
+
+#build mechanism dictionary to "wire up the circuit"
+mechanisms = [
+    { 
+        'policies': { # The following policy functions will be evaluated and their returns will be passed to the state update functions
+            'robot_arm_1': robot_arm_1,
+            'robot_arm_2': robot_arm_2
+        },
+
+        'states': { # The following state variables will be updated simultaneously
+            'box_A': increment_A,
+            'box_B': increment_B
+        }
+    }
+]
+
+
+
+append_configs(
+    sim_configs=sim_config,
+    initial_state=genesis_states,
+    seeds=seeds,
+    raw_exogenous_states=exogenous_states,
+    env_processes=env_processes,
+    partial_state_update_blocks=mechanisms
+)

tutorials/videos/robot-marbles-part-5/README.md

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+https://www.youtube.com/watch?v=I0mSQppibLs&feature=youtu.be