Package: pyelastica
PyElasticaPyElastica is the python implementation ofElastica: anopen-sourceproject for simulating assemblies of slender, one-dimensional structures using Cosserat Rod theory.Visitcosseratrods.orgfor more information and learn about Elastica and Cosserat rod theory.How to StartPyElastica is compatible with Python 3.8 - 3.10.$pipinstallpyelasticaWith this you get a minimal version with very little dependencies.All options:examples: installs dependencies to run example cases,
found under the folderexamples.docs: packages to build documentationOptions can be combined e.g.$pipinstall"pyelastica[examples,docs]"Documentation of PyElastica is availablehere.If you want to simulate magnetic Cosserat rods interacting with external magnetic environments you can install the derived package using$pipinstallmagneto_pyelasticaDetails can be foundhere.CitationWe ask that any publications which use Elastica cite as following:@software{arman_tekinalp_2023_7931429,
  author       = {Arman Tekinalp and
                  Seung Hyun Kim and
                  Yashraj Bhosale and
                  Tejaswin Parthasarathy and
                  Noel Naughton and
                  Ilia Nasiriziba and
                  Songyuan Cui and
                  Maximilian Stölzle and
                  Chia-Hsien (Cathy) Shih and
                  Mattia Gazzola
                  },
  title        = {GazzolaLab/PyElastica: v0.3.1},
  month        = may,
  year         = 2023,
  publisher    = {Zenodo},
  version      = {v0.3.1},
  doi          = {10.5281/zenodo.7931429},
  url          = {https://doi.org/10.5281/zenodo.7931429}
}ReferencesGazzola, Dudte, McCormick, Mahadevan,Forward and inverse problems in the mechanics of soft filaments, Royal Society Open Science, 2018. doi:10.1098/rsos.171628Zhang, Chan, Parthasarathy, Gazzola,Modeling and simulation of complex dynamic musculoskeletal architectures, Nature Communications, 2019. doi:10.1038/s41467-019-12759-5List of publications and submissionsTopology, dynamics, and control of an octopus-analog muscular hydrostat(UIUC, 2023)Hierarchical control and learning of a foraging CyberOctopus(UIUC, 2023)Energy-shaping control of a muscular octopus arm moving in three dimensions(UIUC, 2023) (Proceedings of the Royal Society A 2023)A sensory feedback control law for octopus arm movements(UIUC, 2022) (IEEE CDC 2022)Control-oriented modeling of bend propagation in an octopus arm(UIUC, 2021) (IEEE ACC 2022)A physics-informed, vision-based method to reconstruct all deformation modes in slender bodies(UIUC, 2021) (IEEE ICRA 2022)codeOptimal control of a soft CyberOctopus arm(UIUC, 2021) (IEEE ACC 2021)Elastica: A compliant mechanics environment for soft robotic control(UIUC, 2021) (IEEE RA-L 2021)Controlling a CyberOctopus soft arm with muscle-like actuation(UIUC, 2020) (IEEE CDC 2021)Energy shaping control of a CyberOctopus soft arm(UIUC, 2020) (IEEE CDC 2020)TutorialsWe have created several Jupyter notebooks and Python scripts to help users get started with PyElastica. The Jupyter notebooks are available on Binder, allowing you to try out some of the tutorials without having to install PyElastica.We have also included an example script for visualizing PyElastica simulations using POVray. This script is located in the examples folder (examples/visualization).ContributionIf you would like to participate, please read ourcontribution guidelinePyElastica is developed by theGazzola Labat the University of Illinois at Urbana-Champaign.Senior Developers ✨Names arranged alphabeticallyArman TekinalpChia-Hsien Shih (Cathy)Fan Kiat ChanIlia NasirizibaNoel NaughtonSeung Hyun KimSongyuan CuiTejaswin Parthasarathy (Teja)Yashraj Bhosale