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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 Xsfviewer and the RL-agent 

A dedicated main.xmf file is available for each mode. Accordingly, XMF nodes can be included/excluded and enabled/disabled to obtain the required behavior of the mode. If the basin is not included, a physics model in XMF will be used to model the Optimist's behavior. When the basin controls XMF, the Optimist's 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. 

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