Cable-driven soft robot as Cosserat rod

[camilla-agabiti]

Hello :) I would like to start using the Cosserat plugin for a work I am carrying out, which is related to grasping simulation using a soft robotic arm. The problem is that the robot has a conic structure, so I couldn't understand if this is compatible with the current Cosserat plugin.
Basically, the robot has conic shape for 3/4 of its length, then the cross section remains constant until the tip.

How could this be handled otherwise?

Thanks a lot :)