diff --git a/CMakeLists.txt b/CMakeLists.txt
index c0cf65d..d928935 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -438,3 +438,5 @@ if(CMAKE_SYSTEM_NAME STREQUAL Windows)
     include(windeployqt)
     windeployqt(${PROJECT_NAME} ${CMAKE_BINARY_DIR}/bin bin)
 endif()
+
+add_subdirectory(extensions)
diff --git a/extensions/CMakeLists.txt b/extensions/CMakeLists.txt
new file mode 100644
index 0000000..0c9a428
--- /dev/null
+++ b/extensions/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.22)
+
+find_package(Sofa.Config)
+
+sofa_add_subdirectory(plugin CUDA Sofa.Qt.CUDA)
+
diff --git a/extensions/CUDA/CMakeLists.txt b/extensions/CUDA/CMakeLists.txt
new file mode 100644
index 0000000..e73655b
--- /dev/null
+++ b/extensions/CUDA/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.22)
+project(Sofa.Qt.CUDA LANGUAGES CXX CUDA)
+
+set(SOFAQTCUDA_SOURCE_DIR "src/sofa/qt/cuda")
+set(HEADER_FILES
+    ${SOFAQTCUDA_SOURCE_DIR}/init.h
+    ${SOFAQTCUDA_SOURCE_DIR}/config.h.in
+    ${SOFAQTCUDA_SOURCE_DIR}/CudaDataWidget.h
+)
+
+set(SOURCE_FILES
+    ${SOFAQTCUDA_SOURCE_DIR}/init.cpp
+    ${SOFAQTCUDA_SOURCE_DIR}/CudaDataWidget.cpp
+)
+
+sofa_find_package(Sofa.Qt REQUIRED)
+sofa_find_package(SofaCUDA REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
+target_link_libraries(${PROJECT_NAME} Sofa.Qt)
+target_link_libraries(${PROJECT_NAME} SofaCUDA)
+
+sofa_create_package_with_targets(
+    PACKAGE_NAME ${PROJECT_NAME}
+    PACKAGE_VERSION ${Sofa_VERSION}
+    TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
+    INCLUDE_SOURCE_DIR "src"
+    INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
+    RELOCATABLE "plugins"
+)
diff --git a/extensions/CUDA/Sofa.Qt.CUDAConfig.cmake.in b/extensions/CUDA/Sofa.Qt.CUDAConfig.cmake.in
new file mode 100644
index 0000000..6b0c77b
--- /dev/null
+++ b/extensions/CUDA/Sofa.Qt.CUDAConfig.cmake.in
@@ -0,0 +1,9 @@
+# CMake package configuration file for the Sofa.QT.CUDA library
+
+@PACKAGE_GUARD@
+@PACKAGE_INIT@
+
+find_package(Sofa.Qt QUIET REQUIRED)
+find_package(SofaCUDA QUIET REQUIRED)
+
+check_required_components(Sofa.Qt.CUDA)
diff --git a/extensions/CUDA/src/sofa/qt/cuda/CudaDataWidget.cpp b/extensions/CUDA/src/sofa/qt/cuda/CudaDataWidget.cpp
new file mode 100644
index 0000000..2c29868
--- /dev/null
+++ b/extensions/CUDA/src/sofa/qt/cuda/CudaDataWidget.cpp
@@ -0,0 +1,81 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/qt/cuda/config.h>
+
+#include <sofa/qt/cuda/CudaDataWidget.h>
+#include <sofa/gpu/cuda/CudaTypes.h>
+#include <sofa/helper/Factory.inl>
+#include <sofa/qt/DataWidget.h>
+#include <sofa/qt/SimpleDataWidget.h>
+#include <sofa/qt/TableDataWidget.h>
+
+namespace sofa::qt
+{
+using sofa::helper::Creator;
+using namespace sofa::type;
+using namespace sofa::defaulttype;
+
+Creator<DataWidgetFactory, SimpleDataWidget< Vec<1, int> > > DWClass_Vec12i("default", true);
+
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<int> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<unsigned int> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<float> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<double> >;
+
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec1i> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec2i> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec3i> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec4i> >;
+
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec1f> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec2f> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec3f> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec4f> >;
+
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec1d> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec2d> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec3d> >;
+template class SOFA_QT_CUDA_API TDataWidget<sofa::gpu::cuda::CudaVector<Vec4d> >;
+
+
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<int>, TABLE_HORIZONTAL > > DWClass_cudaVectori("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<unsigned int>, TABLE_HORIZONTAL > > DWClass_cudaVectorui("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<float>, TABLE_HORIZONTAL > > DWClass_cudaVectorf("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<double>, TABLE_HORIZONTAL > > DWClass_cudaVectord("default", true);
+
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec1i> > > DWClass_cudaVectorVec1i("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec2i> > > DWClass_cudaVectorVec2i("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec3i> > > DWClass_cudaVectorVec3i("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec4i> > > DWClass_cudaVectorVec4i("default", true);
+
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec1f> > > DWClass_cudaVectorVec1f("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec2f> > > DWClass_cudaVectorVec2f("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec3f> > > DWClass_cudaVectorVec3f("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec4f> > > DWClass_cudaVectorVec4f("default", true);
+
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec1d> > > DWClass_cudaVectorVec1d("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec2d> > > DWClass_cudaVectorVec2d("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec3d> > > DWClass_cudaVectorVec3d("default", true);
+Creator<DataWidgetFactory, TableDataWidget< sofa::gpu::cuda::CudaVector<Vec4d> > > DWClass_cudaVectorVec4d("default", true);
+
+
+} // namespace sofa::qt
diff --git a/extensions/CUDA/src/sofa/qt/cuda/CudaDataWidget.h b/extensions/CUDA/src/sofa/qt/cuda/CudaDataWidget.h
new file mode 100644
index 0000000..d3c2ad0
--- /dev/null
+++ b/extensions/CUDA/src/sofa/qt/cuda/CudaDataWidget.h
@@ -0,0 +1,62 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/gpu/cuda/CudaTypes.h>
+#include <sofa/qt/QModelViewTableDataContainer.h>
+
+namespace sofa::qt
+{
+////////////////////////////////////////////////////////////////
+/// variable-sized vectors support
+////////////////////////////////////////////////////////////////
+
+template<class T>
+class vector_data_trait < sofa::gpu::cuda::CudaVector<T> >
+{
+public:
+    typedef sofa::gpu::cuda::CudaVector<T> data_type;
+    typedef T value_type;
+    enum { NDIM = 1 };
+    static int size(const data_type& d) {
+        return d.size();
+    }
+    static const char* header(const data_type& /*d*/, int /*i*/ = 0)
+    {
+        return nullptr;
+    }
+    static const value_type* get(const data_type& d, int i = 0)
+    {
+        return ((unsigned)i < (unsigned)size(d)) ? &(d[i]) : nullptr;
+    }
+    static void set(const value_type& v, data_type& d, int i = 0)
+    {
+        if ((unsigned)i < (unsigned)size(d))
+            d[i] = v;
+    }
+    static void resize(int s, data_type& d)
+    {
+        d.resize(s);
+    }
+};
+
+
+} // namespace sofa::qt
diff --git a/extensions/CUDA/src/sofa/qt/cuda/config.h.in b/extensions/CUDA/src/sofa/qt/cuda/config.h.in
new file mode 100644
index 0000000..d4d6bb0
--- /dev/null
+++ b/extensions/CUDA/src/sofa/qt/cuda/config.h.in
@@ -0,0 +1,40 @@
+/******************************************************************************
+*                              BeamAdapter plugin                             *
+*                  (c) 2006 Inria, University of Lille, CNRS                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: see Authors.md                                                     *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+
+#include <sofa/config.h>
+#include <sofa/config/sharedlibrary_defines.h>
+
+#define SOFA_QT_CUDA_VERSION @PROJECT_VERSION@
+
+#ifdef SOFA_BUILD_SOFA_QT_CUDA
+#  define SOFA_TARGET @PROJECT_NAME@
+#  define SOFA_QT_CUDA_API SOFA_EXPORT_DYNAMIC_LIBRARY
+#else
+#  define SOFA_QT_CUDA_API SOFA_IMPORT_DYNAMIC_LIBRARY
+#endif
+
+namespace sofa::qt::cuda
+{
+    constexpr const char* MODULE_NAME = "@PROJECT_NAME@";
+    constexpr const char* MODULE_VERSION = "@PROJECT_VERSION@";
+} // namespace sofa::qt::cuda
diff --git a/extensions/CUDA/src/sofa/qt/cuda/init.cpp b/extensions/CUDA/src/sofa/qt/cuda/init.cpp
new file mode 100644
index 0000000..502f69d
--- /dev/null
+++ b/extensions/CUDA/src/sofa/qt/cuda/init.cpp
@@ -0,0 +1,83 @@
+/******************************************************************************
+*                              BeamAdapter plugin                             *
+*                  (c) 2006 Inria, University of Lille, CNRS                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: see Authors.md                                                     *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <sofa/qt/cuda/init.h>
+
+#include <sofa/core/ObjectFactory.h>
+#include <sofa/helper/system/PluginManager.h>
+
+namespace sofa::qt::cuda
+{
+
+extern "C" {
+    SOFA_QT_CUDA_API void initExternalModule();
+    SOFA_QT_CUDA_API const char* getModuleLicense();
+    SOFA_QT_CUDA_API const char* getModuleName();
+    SOFA_QT_CUDA_API const char* getModuleVersion();
+    SOFA_QT_CUDA_API const char* getModuleDescription();
+    SOFA_QT_CUDA_API void registerObjects(sofa::core::ObjectFactory* factory);
+}
+
+void init()
+{
+    static bool first = true;
+    if (first)
+    {
+        // make sure that this plugin is registered into the PluginManager
+        sofa::helper::system::PluginManager::getInstance().registerPlugin(MODULE_NAME);
+        
+        first = false;
+    }
+}
+
+//Here are just several convenient functions to help user to know what contains the plugin
+
+void initExternalModule()
+{
+    init();
+}
+
+const char* getModuleLicense()
+{
+    return "LGPL";
+}
+
+const char* getModuleName()
+{
+    return MODULE_NAME;
+}
+
+const char* getModuleVersion()
+{
+    return MODULE_VERSION;
+}
+
+const char* getModuleDescription()
+{
+    return "CUDA extension of the Sofa.Qt plugin.";
+}
+
+void registerObjects(sofa::core::ObjectFactory* factory)
+{
+    SOFA_UNUSED(factory);
+}
+
+} // namespace sofa::qt::cuda
diff --git a/extensions/CUDA/src/sofa/qt/cuda/init.h b/extensions/CUDA/src/sofa/qt/cuda/init.h
new file mode 100644
index 0000000..817b961
--- /dev/null
+++ b/extensions/CUDA/src/sofa/qt/cuda/init.h
@@ -0,0 +1,30 @@
+/******************************************************************************
+*                              BeamAdapter plugin                             *
+*                  (c) 2006 Inria, University of Lille, CNRS                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Authors: see Authors.md                                                     *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#pragma once
+#include <sofa/qt/cuda/config.h>
+
+namespace sofa::qt::cuda
+{
+
+void SOFA_QT_CUDA_API init();
+
+} // namespace sofa::qt::cuda