Real-time multi-physics simulation with an emphasis on medical simulation.

This Sofa plugin contains components & method for soft robotics.

Reinforcement learning environments for robot-assisted laparoscopic surgery

A SOFA plugin to simulate linear structures using Cosserat theory

A python plugin for Sofa offering a pythonic interface and python3 support.

SOFA Plugin to Reduce Model

Plugin implementing Kirchhoff rods to simulate any 1D flexible structure

This repository allows for coupling the open-source framework SOFA with the Robot Operating System (ROS)

Sofa Template Library

Quick and simple GUI for SOFA, based on GLFW and optionally Dear ImGui

Rendering Hardware Interface for SOFA

Optimus plugin was created to provide a testing environment for data-driven physics-based modeling.

SQL for numerical simulations.

Basic SOFA plugin example

A Plugin for the SOFA framework to describe linear viscoelastic and visco-hyperelastic materials

Code of the article "Benchmarking the Sim-to-Real Gap in Cloth Manipulation"

Very simple implementation of a Saint-Venant-Kirchhoff SOFA force field using FEniCS C code generation

SOFA plugin dedicated to solving linear systems on the GPU using CUDA