Basic Usage

This will walk you through setting up your first manipulator and complete simulation.

Set up a definition file

SoMo manipulators are defined as dictionaries describing one or more actuators, each of which is made up of several links and joints.


Here is an example of a typical definition of a soft finger made up of one bending actuator. You can copy this or directly download it:


Build a SoMo Manipulator from a definition


This documentation is coming soon!

Load the definition from a file directly



Modify a definition before creating

SoMo definitions are just python dictionaries, so you can load them in, make modifications, then instantiate a manipulator object.

Control a manipulator