fix: 安全关闭 MuJoCo 显示窗口

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()