SofaCUDA support for BeamFEMForceField / BTDLinearSolver with Rigid3d DOFs #6219

Hi SOFA team,

I am using SOFA v25.06.00 to simulate a rope/beam with BeamFEMForceField, BTDLinearSolver (BTDMatrix6d), and Rigid3d mechanical objects for a robotics data collection pipeline.

I would like to GPU-accelerate the physics simulation using SofaCUDA, but I found that:

CudaCGLinearSolver does not exist in the factory
CudaRigid3f template is not supported by BeamFEMForceField
BTDLinearSolver has no CUDA equivalent
My question: Is there a roadmap or workaround to GPU-accelerate beam-based simulations in SOFA? Are there alternative components (e.g., a CUDA-compatible beam force field or solver) that would support Rigid3d DOFs?

Any guidance would be greatly appreciated.

Best regards,
Komal