I'm interested in this subject for educational purposes. I myself was unable to get such software. The only applications I was able to find are these for manual modelling, but these don't interest me.

However, I found two papers with interesting solutions:

[1] "Torus Figure Generating System Based on Graph Theoretical Representation and Topological Analysis"

This one is fine. You provide a flat figure as input, and you get 2-D multi-bar impossible object in output.

However, neither ...