Thanks! Great question.

TurtleSim itself doesn't simulate real-world physics — it allows instant position updates when needed. In this project, the goal was to create a digital turtle artist, not to replicate physical realism. So when the agent wants to draw something, it puts the pen down and moves physically (i.e., using velocity commands). But when it doesn't need to draw and just wants to move quickly to another position, it uses a teleport function I provided as a tool.

That's why in the rainbow example, you might see the turtle "jump" between arcs — it's skipping the movement to get to the next drawing point faster.