test: add coverage for shift+z/c keys and omni_angular keyboard action

Author: hanruihua

tests/test_env.py

@@ -1234,6 +1234,46 @@ def test_desired_omni_vel_no_goal(self, env_factory):
         assert np.allclose(vel, np.zeros((2, 1)))
 
 
+class TestAssignKeyboardAction:
+    """Tests for _assign_keyboard_action with different kinematics."""
+
+    def test_omni_angular_keyboard_action(self, env_factory):
+        """Test keyboard action conversion for omni_angular robot."""
+        env = env_factory("test_keyboard_control2.yaml")
+        # Temporarily set control mode to keyboard
+        original_mode = env._world_param.control_mode
+        env._world_param.control_mode = "keyboard"
+        env.keyboard.key_vel = np.array([[1.0], [0.5], [0.3]])
+
+        # Mock robot kinematics name
+        robot = env.robot_list[env.key_id]
+        original_kf_name = robot.kf.name if robot.kf else None
+
+        # Test omni_angular
+        if robot.kf:
+            robot.kf.name = "omni_angular"
+        action = [np.zeros((3, 1)) for _ in range(len(env.robot_list))]
+        result = env._assign_keyboard_action(action)
+        vel = result[env.key_id]
+        assert vel.shape == (3, 1)
+        assert vel[0, 0] == pytest.approx(1.0)
+        assert vel[1, 0] == pytest.approx(0.5)
+        assert vel[2, 0] == pytest.approx(0.3)
+
+        # Test omni
+        if robot.kf:
+            robot.kf.name = "omni"
+        action = [np.zeros((2, 1)) for _ in range(len(env.robot_list))]
+        result = env._assign_keyboard_action(action)
+        vel = result[env.key_id]
+        assert vel.shape == (2, 1)
+
+        # Restore
+        if robot.kf:
+            robot.kf.name = original_kf_name
+        env._world_param.control_mode = original_mode
+
+
 class TestMidProcessEdgeCases:
     """Tests for ObjectBase.mid_process state padding/truncation."""
 

tests/test_keyboard.py

@@ -116,6 +116,16 @@ def test_zc_adjust_ang_max(self, env_factory, mock_keyboard_key):
         env.keyboard._on_pynput_release(mock_keyboard_key("z"))
         assert env.keyboard.key_ang_max < prev_ang_max + 0.2
 
+    def test_shift_zc_adjust_lv_max(self, env_factory, mock_keyboard_key):
+        """Test Shift+Z/C (uppercase) keys adjust linear velocity max."""
+        env = env_factory("test_keyboard_control.yaml")
+        env.keyboard._active_only = False
+        prev_lv_max = env.keyboard.key_lv_max
+        env.keyboard._on_pynput_release(mock_keyboard_key("C"))
+        assert env.keyboard.key_lv_max == pytest.approx(prev_lv_max + 0.2)
+        env.keyboard._on_pynput_release(mock_keyboard_key("Z"))
+        assert env.keyboard.key_lv_max == pytest.approx(prev_lv_max)
+
     def test_r_key_sets_reset_flag(self, env_factory, mock_keyboard_key):
         """Test 'r' key sets reset flag."""
         env = env_factory("test_keyboard_control.yaml")
@@ -320,6 +330,17 @@ def test_ang_max_adjustment(self, env_factory, mock_mpl_event):
         env.keyboard._on_mpl_release(mock_mpl_event("z"))
         assert env.keyboard.key_ang_max < prev_ang_max + 0.2
 
+    def test_shift_zc_lv_max_adjustment(self, env_factory, mock_mpl_event):
+        """Test Shift+Z/C keys adjust linear velocity max in mpl backend."""
+        env = env_factory("test_keyboard_control2.yaml")
+
+        prev_lv_max = env.keyboard.key_lv_max
+        env.keyboard._on_mpl_release(mock_mpl_event("shift+c"))
+        assert env.keyboard.key_lv_max == pytest.approx(prev_lv_max + 0.2)
+
+        env.keyboard._on_mpl_release(mock_mpl_event("shift+z"))
+        assert env.keyboard.key_lv_max == pytest.approx(prev_lv_max)
+
     def test_space_pause_resume(self, env_factory, mock_mpl_event):
         """Test space key toggles pause/resume in mpl backend."""
         env = env_factory("test_keyboard_control2.yaml")