nami.train//Physical environmentsReal world RL for crossing the sim to real engineering gapSubmarine design, flow and steeringAn assembled submarine with two side fins and a four-blade propeller inside an open duct. Simulate shows illustrative water flow; Measure shows component forces, their sum and the steering direction.Fin forceFin forceThrustCombined forceSteeringDesignSimulateMeasureResumeSimulatedHulls and foilsSimulatedWave poolPhysicalRobot / flumePhysicalJetty building