diff --git a/dimos/robot/unitree_webrtc/mujoco_connection.py b/dimos/robot/unitree_webrtc/mujoco_connection.py
index a214182925..4cd036a050 100644
--- a/dimos/robot/unitree_webrtc/mujoco_connection.py
+++ b/dimos/robot/unitree_webrtc/mujoco_connection.py
@@ -89,7 +89,7 @@ def start(self) -> None:
             raise RuntimeError(f"Failed to start MuJoCo subprocess: {e}") from e
 
         # Wait for process to be ready
-        ready_timeout = 10
+        ready_timeout = 300.0
         start_time = time.time()
         assert self.process is not None
         while time.time() - start_time < ready_timeout:
diff --git a/pyproject.toml b/pyproject.toml
index 1b3e879ce0..4c3921cbf5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -118,6 +118,9 @@ dependencies = [
     # CLI
     "pydantic-settings>=2.11.0,<3",
     "typer>=0.19.2,<1",
+
+    # Teleop
+    "pygame>=2.6.1",
 ]
 
 [project.scripts]
@@ -222,7 +225,6 @@ sim = [
     # Simulation
     "mujoco>=3.3.4",
     "playground>=0.0.5",
-    "pygame>=2.6.1",
 ]
 
 jetson-jp6-cuda126 = [