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+import numpy as np%0A%0Aimport dapper.mods as modelling%0Afrom dapper.mods.LorenzIII import Model%0Afrom dapper.tools.localization import nd_Id_localization%0A%0A# Sakov uses K=300000, BurnIn=1000*0.05%0Atseq = modelling.Chronology(0.002, dto=0.05, Ko=100, Tplot=2, BurnIn=2)%0A%0Amodel = Model(b=8)%0A%0ADyn = %7B%0A    'M': model.M,%0A    'model': model.step,%0A    'noise': 0,%0A%7D%0A%0AX0 = modelling.GaussRV(mu=model.x0, C=0.001)%0A%0Ajj = np.arange(model.M)  # obs_inds%0AObs = modelling.partial_Id_Obs(model.M, jj)%0AObs%5B'noise'%5D = 1%0AObs%5B'localizer'%5D = nd_Id_localization((model.M,), (6,))%0A%0AHMM = modelling.HiddenMarkovModel(Dyn, Obs, tseq, X0)%0A

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