Building on Linux

OS_Linux_256x256-32Building on Linux


1.  In the CMake GUI, first click on Generate to prepare the build solution. Select your generator. When it is done, you can set the variable SOFA_EXTERNAL_DIRECTORIES to the path of your SoftRobots plugin.

2. The plugin has a dependency to the qpOASES library. In the SoftRobots/extlibs/qpOASES-3.2.0/ file, check that only “include” is uncomment:

include ${TOP}/
#include ${TOP}/
#include ${TOP}/
#include ${TOP}/

Install qpOASES using the following commands:

cd SoftRobots/extilbs/qpOASES-3.2.0

If necessary, see

3. Finally, you can start the compilation of the plugin by going into the build directory and launching (depending on your build system):




4. You can now test the plugin by using:

runSofa PATH_TO_SOFA/application/plugins/SoftRobots/examples/AN_EXAMPLE

NB: Most of the examples provided in the SoftRobots plugin require the SofaPython plugin. This plugin is enabled by default when using the SoftRobots plugin.
The runSofa application has a plugin manager. If you want a plugin library to be loaded by the application you have two options:

  1. Add to your scene a “RequiredPlugin” component (see the modeler application for more information, or the examples provided in the plugin)
  2. Manually add it using the “Edit/plugin manager” of the runSofa application

If you want runSofa to recognize python extension “.py” or “.pyscn”, you will need to add the python plugin library manually.

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