some of the source code used in "Evolved Electrophysiological Soft Robots"
$ ./voxcad-code/VoxCad/release/VoxCad -> File -> Import -> Simulation -> "voxelyze_2013-07-02/Example_Worm_LongReadable.vxa" -> Analyze -> Physics Sandbox
$ ./conductiveVoxels/voxelyze_2013-07-02/voxelize -p -f Example_Worm_LongReadable.vxa