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The mil_benchmarks directory contains the basic checks (benchmarks), which are executed in the basin prior to any MIL project. The test matrix for the MIL application in the basin are saved in mil_testMatrix directory. The input.xmf files of the other modes (gui and agent) are saved in the mil_none directory. 

Xsfviewer and the supported Optimist GUI (mode 1)

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. 

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

The basin and the Xsfviewer with the GUI (mode 3)

The basin, FT and the RL-agent (mode 4)