fix: 完善 MuJoCo 退出与测试环境

2026-08-04 13:58:35 +08:00
parent 9c47c94c79
commit 1fefae34e5
4 changed files with 42 additions and 4 deletions
@@ -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