This will walk you through setting up your first manipulator and complete simulation.
On this page
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:
This documentation is coming soon!
SoMo definitions are just python dictionaries, so you can load them in, make modifications, then instantiate a manipulator object.