Control Oriented Muscle Model for an octopus arm. The package extend the implementation of Cosserat Rod simulation done by PyElastica.

The package can be installed using standard python package installer (pip):

pip install coomm

or from source code:

cd <repository directory>
git clone https://github.com/hanson-hschang/COOMM
pip install -e COOMM

We ask that any publications which use COOMM cite as following:

@article{chang2022energy,
  title={Energy Shaping Control of a Muscular Octopus Arm Moving in Three Dimensions},
  author={Chang, Heng-Sheng and Halder, Udit and Shih, Chia-Hsien and Naughton, Noel and Gazzola, Mattia and Mehta, Prashant G},
  journal={arXiv preprint arXiv:2209.04089},
  year={2022}
}

• Gazzola, Dudte, McCormick, Mahadevan, Forward and inverse problems in the mechanics of soft filaments, Royal Society Open Science, 2018. doi: 10.1098/rsos.171628

• PyElastica: https://github.com/GazzolaLab/PyElastica