Version 2023.02 of xSimulation must be used.
It can be downloaded from this location:
I:\Applications\xsimulation\Releases\202302
The AI-Sail XMF configuration files are saved in a SVN repository.
The url of this repository is:
https://svn.marin.nl/external/projects/34213_AI_Sail
This repository contains the trunk, branches and tags as depicted below. For now the files are only saved and edited in the trunk. At a later stage branches and tags will be made for version control.
The xmf
directory contains a number of directories, which are listed in the figure below.
The _info
directory contains all available background information, which was used to set-up the numerical XMF model. This information consists for example of papers, script, drawings and CAD files.
At this moment four modes of the numerical model are supported. These modes are listed below and further explained in the paragraphs of this section.
Modes:
For each mode a dedicated main.xmf
is available. 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.