Demo on netlify: https://angry-goodall-cd67bb.netlify.com
Rushed code, but working. Details to follow.
Derived from:
https://github.com/OpenSourceBrain/CelegansNeuromechanicalGaitModulation
https://github.com/openworm/WormWorx
more info here: http://openworm.org/WormWorx/