fix: 完善 MuJoCo 退出与测试环境

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))

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