A high-fidelity simulation backend for Franka robots that implements the complete libfranka API. Develop and test your robot control applications with identical code for both simulation and hardware. Supports all joint control modes (position, velocity, torque) with realistic physics powered by the Genesis engine.
CodonTrace Genesis — deterministic research software for digital evolution, causal mechanism auditing, replayable ALife experiments, and evidence-gated AI/evolution studies.
