"""Unit tests for MuJoCoRunner domain randomization."""

import dataclasses

import numpy as np
import pytest

from src.runners.mujoco import DomainRandConfig, MuJoCoRunnerConfig


class TestDomainRandConfig:
    def test_default_all_zero(self) -> None:
        cfg = DomainRandConfig()
        assert cfg.mass_frac == 0.0
        assert cfg.friction_frac == 0.0
        assert cfg.gear_frac == 0.0

    def test_from_dict(self) -> None:
        d = {"mass_frac": 0.15, "gear_frac": 0.1}
        cfg = DomainRandConfig(**d)
        assert cfg.mass_frac == 0.15
        assert cfg.gear_frac == 0.1
        assert cfg.damping_frac == 0.0  # not set


class TestMuJoCoRunnerConfig:
    def test_default_dr_disabled(self) -> None:
        cfg = MuJoCoRunnerConfig()
        assert isinstance(cfg.domain_rand, DomainRandConfig)
        assert cfg.domain_rand.mass_frac == 0.0

    def test_domain_rand_from_dict(self) -> None:
        """Hydra passes nested configs as dicts — test __post_init__ converts."""
        cfg = MuJoCoRunnerConfig(
            domain_rand={"mass_frac": 0.2, "friction_frac": 0.3},  # type: ignore[arg-type]
        )
        assert isinstance(cfg.domain_rand, DomainRandConfig)
        assert cfg.domain_rand.mass_frac == 0.2
        assert cfg.domain_rand.friction_frac == 0.3