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1. Xsfviewer with embedded Optimist GUI
2. Fast-time (FT) and the RL-agent
3. The basin with Xsfviewer and GUI
4. The basin, FT and the RL-agent 

For each mode a A dedicated main.xmf is available for each mode. In this way XMF nodes can be included/excluded and enabled/disabled to obtain the required behavior of set-up. If the basin is not included, a physics model in XMF will be used to model the Optimist behavior. When the basin controls XMF, the Optimist state from the basin is directly set to the bodies and actuators in XMF. With this solution the interface between XMF and the RL-agent remains intact. There is no intrusive behavior on this interface once the basin is included. 

The main.xmf file is called by a input.xmf file. The input.xmf file is extended with property references which are applicable for the preferred mode. These property references can be set on the command line or selected in the basin by means of the MIL-GUI (Model-In-the-Loop Graphical User Interface). 

Xsfviewer and the supported Optimist GUI

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