graphics ok, need refining through
refined plotting
recompute weights by log approximator
some bugs in modular parts fixed
implemented irl on samples
added closest target to state rep. looks ok
debugging
keep this stage - not removing any object
bug: failure upon reaching a target
now try state set
choose random discrete states in getstates
changed for sanity check
ran experiments
bug fixed in seg del
stupid bug fixed on parsing state
add orient, doesn't harm others which seems to me
maybe numerical problem in seg