diff --git a/README.md b/README.md
index 5fe0e81..9554b47 100755
--- a/README.md
+++ b/README.md
@@ -104,7 +104,7 @@ source install/setup.bash
 
 真机模式还需要安装睿尔曼 Python API2。若未安装，mock 模式仍可正常使用；真机启动时会提示缺少 `Robotic_Arm` 包。
 
-遥操作节点固定由 `/home/robot/miniconda3/envs/xr/bin/python` 启动，并复用其中的 Python 3.10、Placo 0.9.4、Pinocchio 3.7.0 和 NumPy 2.2.6。`ros2`、`colcon` 和 `udp_controller_receiver` 仍使用系统 Python。禁止通过 `pip --user`、`sudo pip` 或系统安装升级 Placo、Pinocchio、EigenPy 和 NumPy。
+遥操作和 MuJoCo 节点固定由 `/home/robot/miniconda3/envs/xr/bin/python` 启动，并复用其中的 Python 3.10、Placo 0.9.4、Pinocchio 3.7.0、NumPy 2.2.6 和 MuJoCo 3.10.0。`ros2`、`colcon`、pytest 和 `udp_controller_receiver` 仍使用系统 Python。禁止通过 `pip --user`、`sudo pip` 或系统安装升级 Placo、Pinocchio、EigenPy 和 NumPy。
 
 只读检查 Placo 版本：
 
@@ -115,6 +115,20 @@ source install/setup.bash
 
 输出必须为 `0.9.4`。
 
+同时检查 MuJoCo：
+
+```bash
+/home/robot/miniconda3/envs/xr/bin/python -c \
+  "import mujoco; print(mujoco.__version__)"
+```
+
+当前验证版本为 `3.10.0`。系统 pytest 会通过 `xr_rm_mujoco/test/conftest.py` 复用该固定 XR 环境中的 MuJoCo，因此新包可直接按 ROS2 标准方式测试：
+
+```bash
+colcon test --packages-select xr_rm_mujoco --event-handlers console_direct+
+colcon test-result --verbose
+```
+
 如果希望 `launcher_ui.py` 从任意目录找到工作空间，可以设置：
 
 ```bash
diff --git a/xr_rm_mujoco/test/conftest.py b/xr_rm_mujoco/test/conftest.py
new file mode 100644
index 0000000..359c7ac
--- /dev/null
+++ b/xr_rm_mujoco/test/conftest.py
@@ -0,0 +1,11 @@
+"""让 ROS2 系统 pytest 复用项目固定 XR 环境中的 MuJoCo。"""
+
+import sys
+from pathlib import Path
+
+
+XR_SITE_PACKAGES = Path(
+    "/home/robot/miniconda3/envs/xr/lib/python3.10/site-packages"
+)
+if XR_SITE_PACKAGES.is_dir():
+    sys.path.append(str(XR_SITE_PACKAGES))
diff --git a/xr_rm_mujoco/test/test_dual_arm_simulator.py b/xr_rm_mujoco/test/test_dual_arm_simulator.py
index 8e27dd2..4aefc0e 100644
--- a/xr_rm_mujoco/test/test_dual_arm_simulator.py
+++ b/xr_rm_mujoco/test/test_dual_arm_simulator.py
@@ -80,7 +80,8 @@ def test_main_closes_viewer_cleanly_on_keyboard_interrupt(monkeypatch) -> None:
     node.close_viewer = lambda: close_viewer(node)
     init = Mock()
     spin = Mock(side_effect=KeyboardInterrupt)
-    sleep = Mock()
+    sleep = Mock(side_effect=[KeyboardInterrupt, None])
+    monotonic = Mock(side_effect=[0.0, 0.0, 0.04])
     shutdown = Mock()
 
     monkeypatch.setattr(simulator_module, "DualArmSimulator", lambda: node)
@@ -88,6 +89,7 @@ def test_main_closes_viewer_cleanly_on_keyboard_interrupt(monkeypatch) -> None:
     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.time, "monotonic", monotonic)
     monkeypatch.setattr(simulator_module.rclpy, "shutdown", shutdown)
 
     simulator_module.main(["--test"])
@@ -95,7 +97,9 @@ def test_main_closes_viewer_cleanly_on_keyboard_interrupt(monkeypatch) -> None:
     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)
+    assert [call.args[0] for call in sleep.call_args_list] == pytest.approx(
+        [0.1, 0.06]
+    )
     node.destroy_node.assert_called_once_with()
     shutdown.assert_called_once_with()
     assert node._viewer is None
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 893b0e9..ca338d4 100644
--- a/xr_rm_mujoco/xr_rm_mujoco/dual_arm_simulator.py
+++ b/xr_rm_mujoco/xr_rm_mujoco/dual_arm_simulator.py
@@ -181,7 +181,16 @@ class DualArmSimulator(Node):
         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)
+            deadline = time.monotonic() + 0.1
+            while True:
+                remaining = deadline - time.monotonic()
+                if remaining <= 0.0:
+                    break
+                try:
+                    time.sleep(remaining)
+                    break
+                except KeyboardInterrupt:
+                    continue
             self._viewer = None