initial Genesis fuzz_target.py

Fuzz/fuzz_target.py

@@ -0,0 +1,51 @@
+import atheris
+import sys
+import numpy as np
+import genesis as gs
+
+def TestOneInput(data):
+    fdp = atheris.FuzzedDataProvider(data)
+    try:
+        gs.init(backend=gs.gpu, logging_level="warning", seed=0)
+        scene = gs.Scene(
+            show_viewer=False,
+            rigid_options=gs.options.RigidOptions(
+                dt=0.01,
+                enable_collision=True,
+                enable_joint_limit=True,
+            ),
+        )
+
+        scene.add_entity(gs.morphs.URDF(file="urdf/plane/plane.urdf", fixed=True))
+        robot = scene.add_entity(
+            gs.morphs.URDF(file="urdf/anymal_c/urdf/anymal_c.urdf", pos=(0, 0, 1.8))
+        )
+
+        n_envs = 0
+        scene.build(n_envs=n_envs)
+        scene.reset()
+
+        qvel = robot.get_dofs_velocity()
+        qvel = np.ones(len(qvel))
+        robot.set_dofs_velocity(qvel)
+
+        for _ in range(10):
+            scene.step()
+
+        qpos = robot.get_qpos()
+        qpos_ref = np.array([
+            0.0992, 0.1016, 1.8430, 0.9957, 0.0582, 0.0538, 0.0476, 0.0795, 0.0762, 0.0843,
+            0.0813, 0.0730, 0.0556, 0.0907, 0.0739, 0.0695, 0.0684, 0.0621, 0.0640
+        ])
+        diff = np.abs(qpos.cpu().numpy() - qpos_ref).max()
+        assert diff < 1e-4
+    except Exception as e:
+        if not isinstance(e, AssertionError):
+            return
+
+def main():
+    atheris.Setup(sys.argv, TestOneInput)
+    atheris.Fuzz()
+
+if __name__ == "__main__":
+    main()