Data and Code for Reversible kink instability drives ultrafast jumping in nematodes and soft robots in Science Robotics

The simulation code and some datasets of "Reversible kink instability drives ultrafast jumping in nematodes and soft robots" published in Science Robotics. Github version of this code is at https://github.com/bhamla-lab/Kink-instability-nematodes-Science-Robotics-2025

The Python code phase_portrait_v10_Dec_23_2024.py  requires the simulated worm postures with filenames pose_alpha_###_theta_###.csv  where the ### denote various angles. 

The code requires Pyelastica module of python. This code was written using v0.3.0 of Pyelastica. The following branch of the Pyelastica github code will take you to the version: https://github.com/GazzolaLab/PyElastica/tree/f6e54e7ceb986a941b39c541ef0a6cbe54177cc5Please note that the latest versions of Pyelastica are incompatible with this code, so it is important to use the above shared older branch.The jump trajectories csv file contain digitized jump trajectories of the nematode. A total of 17 trajectories are shared as x,y pairs. The values are in millimeters.Force data contains raw sensor values for the force timetraces of bend testing the SoftJMs. To convert it to force in Newtons, use Force(N)=(data+0.5105)/(100*0.0287)