From 0dfe3d77dce4ef2c896d261236bee43cb3608797 Mon Sep 17 00:00:00 2001
From: YikaiFu-cart <yikai.fu@nicecart.ai>
Date: Tue, 4 Aug 2026 13:45:44 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E5=AE=89=E5=85=A8=E5=85=B3=E9=97=AD=20M?=
 =?UTF-8?q?uJoCo=20=E6=98=BE=E7=A4=BA=E7=AA=97=E5=8F=A3?=
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---
 xr_rm_mujoco/test/test_dual_arm_simulator.py  | 31 +++++++++++++++++++
 .../xr_rm_mujoco/dual_arm_simulator.py        |  5 +++
 2 files changed, 36 insertions(+)

diff --git a/xr_rm_mujoco/test/test_dual_arm_simulator.py b/xr_rm_mujoco/test/test_dual_arm_simulator.py
index 79999d0..8e27dd2 100644
--- a/xr_rm_mujoco/test/test_dual_arm_simulator.py
+++ b/xr_rm_mujoco/test/test_dual_arm_simulator.py
@@ -1,9 +1,12 @@
 import math
 from pathlib import Path
+from types import SimpleNamespace
+from unittest.mock import Mock
 
 import pytest
 import yaml
 
+from xr_rm_mujoco import dual_arm_simulator as simulator_module
 from xr_rm_mujoco.dual_arm_simulator import (
     ARM_JOINT_NAMES,
     DualArmKinematicModel,
@@ -70,6 +73,34 @@ def test_mujoco_config_contains_only_render_parameters() -> None:
     assert parameters == {"render_rate_hz": 60.0}
 
 
+def test_main_closes_viewer_cleanly_on_keyboard_interrupt(monkeypatch) -> None:
+    close_viewer = simulator_module.DualArmSimulator.close_viewer
+    viewer = Mock()
+    node = SimpleNamespace(_viewer=viewer, destroy_node=Mock())
+    node.close_viewer = lambda: close_viewer(node)
+    init = Mock()
+    spin = Mock(side_effect=KeyboardInterrupt)
+    sleep = Mock()
+    shutdown = Mock()
+
+    monkeypatch.setattr(simulator_module, "DualArmSimulator", lambda: node)
+    monkeypatch.setattr(simulator_module.rclpy, "init", init)
+    monkeypatch.setattr(simulator_module.rclpy, "spin", spin)
+    monkeypatch.setattr(simulator_module.rclpy, "ok", lambda: True)
+    monkeypatch.setattr(simulator_module.time, "sleep", sleep)
+    monkeypatch.setattr(simulator_module.rclpy, "shutdown", shutdown)
+
+    simulator_module.main(["--test"])
+
+    init.assert_called_once_with(args=["--test"])
+    spin.assert_called_once_with(node)
+    viewer.close.assert_called_once_with()
+    sleep.assert_called_once_with(0.1)
+    node.destroy_node.assert_called_once_with()
+    shutdown.assert_called_once_with()
+    assert node._viewer is None
+
+
 @pytest.mark.parametrize(
     ("names", "positions", "match"),
     [
diff --git a/xr_rm_mujoco/xr_rm_mujoco/dual_arm_simulator.py b/xr_rm_mujoco/xr_rm_mujoco/dual_arm_simulator.py
index cc28e59..893b0e9 100644
--- a/xr_rm_mujoco/xr_rm_mujoco/dual_arm_simulator.py
+++ b/xr_rm_mujoco/xr_rm_mujoco/dual_arm_simulator.py
@@ -4,6 +4,7 @@ from __future__ import annotations
 
 import math
 from pathlib import Path
+import time
 from typing import Callable
 
 import mujoco
@@ -179,6 +180,8 @@ class DualArmSimulator(Node):
     def close_viewer(self) -> None:
         if self._viewer is not None:
             self._viewer.close()
+            # MuJoCo 在后台 daemon 线程释放 GLX；立即退出解释器会触发段错误。
+            time.sleep(0.1)
             self._viewer = None
 
 
@@ -188,6 +191,8 @@ def main(args=None) -> None:
     try:
         node = DualArmSimulator()
         rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
     finally:
         if node is not None:
             node.close_viewer()