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The main.xmf  of the is mode is saved at this location: xmf\general\mode\gui . The physics of the Optimist model is part of the hull body hydrodynamic nodes and the three coupled bodies by means of constraints. The three actuators (main sheet, rudder, ballast weight) can be controlled by an embedded GUI in the Xsfviewer. This mode allows you to simulate sailing an Optimist and obtain a better understanding about the actions and consequences of these actions.  Experienced sailors can comment on the realism of the physics in this mode.

Fast-time (FT) and the RL-agent (mode 2)

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