Every program in the Zoo Design Platform comes with a "To get started" guide. It has the file extension .intro and is included in the downloaded package. A lot of documentation is still missing. If there is an interest in using the Zoo programs I will start writing some User Guides.

You can start by reading this Zoo Design Platform presentation. Here is a description on how to setup a simulation environment in Mongoose.

Cobra User's Guide

It took some time but here it is. The Cobra Command Tool User's Guide.