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index.html
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---
layout: default
overview: true
---
<section class="intro">
<div class="grid">
<div style="padding-top: 1em; padding-left: 1em">
<p>Optimize the motion and control of musculoskeletal
models.</p>
</div>
<div class="unit whole align-center" style="padding-top: 1em;">
<img src="{{ 'OverviewOfMoco.png' | relative_url }}" width="80%"/>
</div>
</div>
</section>
<section class="features">
<div class="grid">
<div class="unit one-third">
<h2 style="font-size: 1.2em">State-of-the-art</h2>
<p>
Moco employs the state-of-the-art direct collocation method to rapidly
solve trajectory optimization problems. Predict walking in 30 minutes.
</p>
</div>
<div class="unit one-third">
<h2 style="font-size: 1.2em">Easy to use</h2>
<p>
Moco feels familiar to OpenSim users, with XML/command-line, Matlab,
Python, and C++ interfaces. Solve basic optimizations with very few lines
of code.
</p>
</div>
<div class="unit one-third">
<h2 style="font-size: 1.2em">Customizable</h2>
<p>
Solve motion tracking, motion prediction, and parameter optimization
problems with a library of cost terms. Use almost any OpenSim
model, even those with kinematic constraints.
</p>
</div>
</div>
</section>
<!--<section class="quickstart">
<div class="grid">
<div class="unit one-fifth center-on-mobiles">
<h3>Get up and running <em>in seconds</em>.</h3>
</div>
<div class="unit four-fifths code">
<p class="title">Quick-start Instructions</p>
<div class="shell">
<p class="line">
<span class="path">~</span>
<span class="prompt">$</span>
<span class="command">conda create -n opensim-rl -c kidzik opensim python=3.6.1</span>
</p>
<p class="line">
<span class="path">~</span>
<span class="prompt">$</span>
<span class="command">source activate opensim-rl</span>
</p>
<p class="line">
<span class="path">~(opensim-rl)</span>
<span class="prompt">$</span>
<span class="command">conda install -c conda-forge lapack git</span>
</p>
<p class="line">
<span class="path">~(opensim-rl)</span>
<span class="prompt">$</span>
<span class="command">pip install git+/~https://github.com/stanfordnmbl/osim-rl.git</span>
</p>
<p class="line">
<span class="path">~(opensim-rl)</span>
<span class="prompt">$</span>
<span class="command">python</span>
</p>
<p class="line">
<span class="output">from osim.env import ProstheticsEnv<br/>
env = ProstheticsEnv(visualize=True)<br/>
observation = env.reset()<br/>
for i in range(200):<br/>
o, r, d, i = env.step(env.action_space.sample())</span>
</p>
</div>
</div>
<div class="clear"></div>
</div>
</section>-->
<section class="free-hosting" style="padding-bottom: 1em; padding-top: 1em">
<div class="grid">
<div class="pane-content">
<div style="width: 100%; padding-bottom: 56%; position: relative;">
<iframe style="position: absolute; top: 0; left: 0; width: 100%;
height: 100%;"
src="https://www.youtube-nocookie.com/embed/IYYZgyE33pU?start=88" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope;
Picture-in-picture" allowfullscreen>
</iframe>
</div>
</div>
</div>
<div class="clear"></div>
</div>
</section>