diff --git a/conftest.py b/conftest.py
new file mode 100644
index 0000000..0aac78a
--- /dev/null
+++ b/conftest.py
@@ -0,0 +1,18 @@
+"""Pytest configuration for Mujoco MCP tests."""
+
+from __future__ import annotations
+
+import asyncio
+import inspect
+
+import pytest
+
+
+@pytest.hookimpl(tryfirst=True)
+def pytest_pyfunc_call(pyfuncitem: pytest.Item) -> bool | None:
+    """Allow ``async def`` tests to run without pytest-asyncio."""
+    test_func = getattr(pyfuncitem, "obj", None)
+    if inspect.iscoroutinefunction(test_func):
+        asyncio.run(test_func(**pyfuncitem.funcargs))
+        return True
+    return None
diff --git a/test_advanced_features.py b/test_advanced_features.py
index dd9137e..e923650 100644
--- a/test_advanced_features.py
+++ b/test_advanced_features.py
@@ -4,6 +4,7 @@
 Tests all new capabilities: controllers, coordination, sensors, RL, benchmarks, visualization
 """
 
+import importlib.util
 import time
 import numpy as np
 import sys
@@ -12,9 +13,21 @@
 import tempfile
 import json
 
+import pytest
+
 # Add project to path
 sys.path.insert(0, str(Path(__file__).parent / "src"))
 
+missing_optional = [
+    name for name in ("scipy", "gymnasium") if importlib.util.find_spec(name) is None
+]
+
+if missing_optional:
+    pytest.skip(
+        "Missing optional dependencies: " + ", ".join(missing_optional),
+        allow_module_level=True,
+    )
+
 # Import all advanced modules
 from mujoco_mcp.advanced_controllers import (
     PIDController,
diff --git a/test_debug.py b/test_debug.py
index 575cd7b..60ecb41 100644
--- a/test_debug.py
+++ b/test_debug.py
@@ -1,13 +1,19 @@
 #!/usr/bin/env python3
 """Debug the action space issue"""
 
+import importlib.util
 import sys
 from pathlib import Path
 import numpy as np
 
+import pytest
+
 # Add src to path for imports
 sys.path.insert(0, str(Path(__file__).parent / "src"))
 
+if importlib.util.find_spec("gymnasium") is None:
+    pytest.skip("gymnasium is required for RL integration tests", allow_module_level=True)
+
 from mujoco_mcp.rl_integration import create_balancing_env
 
 
diff --git a/test_rl_advanced.py b/test_rl_advanced.py
index dc57480..1602083 100644
--- a/test_rl_advanced.py
+++ b/test_rl_advanced.py
@@ -4,6 +4,7 @@
 Tests policy evaluation, training workflows, and advanced RL features
 """
 
+import importlib.util
 import sys
 import time
 import numpy as np
@@ -11,18 +12,19 @@
 from pathlib import Path
 from typing import Dict, Any
 
+import pytest
+
 # Add src to path for imports
 sys.path.insert(0, str(Path(__file__).parent / "src"))
 
-try:
-    from mujoco_mcp.rl_integration import (
-        RLConfig, MuJoCoRLEnvironment, RLTrainer,
-        ReachingTaskReward, BalancingTaskReward, WalkingTaskReward,
-        create_reaching_env, create_balancing_env, create_walking_env
-    )
-except ImportError as e:
-    print(f"❌ Import Error: {e}")
-    sys.exit(1)
+if importlib.util.find_spec("gymnasium") is None:
+    pytest.skip("gymnasium is required for RL integration tests", allow_module_level=True)
+
+from mujoco_mcp.rl_integration import (
+    RLConfig, MuJoCoRLEnvironment, RLTrainer,
+    ReachingTaskReward, BalancingTaskReward, WalkingTaskReward,
+    create_reaching_env, create_balancing_env, create_walking_env
+)
 
 class AdvancedRLTests:
     """Advanced RL functionality tests"""
diff --git a/test_rl_functionality.py b/test_rl_functionality.py
index f8d7054..a5ff4ff 100644
--- a/test_rl_functionality.py
+++ b/test_rl_functionality.py
@@ -4,6 +4,7 @@
 Tests all aspects of the MuJoCo MCP RL integration
 """
 
+import importlib.util
 import sys
 import time
 import numpy as np
@@ -11,22 +12,22 @@
 from pathlib import Path
 from typing import Dict, Any
 
+import pytest
+
 # Add src to path for imports
 sys.path.insert(0, str(Path(__file__).parent / "src"))
 
-try:
-    from mujoco_mcp.rl_integration import (
-        RLConfig, MuJoCoRLEnvironment, RLTrainer,
-        ReachingTaskReward, BalancingTaskReward, WalkingTaskReward,
-        create_reaching_env, create_balancing_env, create_walking_env,
-        example_training
-    )
-    from mujoco_mcp.viewer_client import MuJoCoViewerClient
-    from mujoco_mcp.simulation import MuJoCoSimulation
-except ImportError as e:
-    print(f"❌ Import Error: {e}")
-    print("Make sure MuJoCo MCP is properly installed")
-    sys.exit(1)
+if importlib.util.find_spec("gymnasium") is None:
+    pytest.skip("gymnasium is required for RL integration tests", allow_module_level=True)
+
+from mujoco_mcp.rl_integration import (
+    RLConfig, MuJoCoRLEnvironment, RLTrainer,
+    ReachingTaskReward, BalancingTaskReward, WalkingTaskReward,
+    create_reaching_env, create_balancing_env, create_walking_env,
+    example_training
+)
+from mujoco_mcp.viewer_client import MuJoCoViewerClient
+from mujoco_mcp.simulation import MuJoCoSimulation
 
 # Configure logging
 logging.basicConfig(level=logging.INFO)
diff --git a/test_rl_integration.py b/test_rl_integration.py
index 7bc05b6..ae23ad3 100644
--- a/test_rl_integration.py
+++ b/test_rl_integration.py
@@ -4,6 +4,7 @@
 Tests RL functionality with actual MuJoCo physics simulation
 """
 
+import importlib.util
 import sys
 import time
 import subprocess
@@ -15,19 +16,20 @@
 import threading
 import logging
 
+import pytest
+
 # Add src to path for imports
 sys.path.insert(0, str(Path(__file__).parent / "src"))
 
-try:
-    from mujoco_mcp.rl_integration import (
-        RLConfig, MuJoCoRLEnvironment, RLTrainer,
-        create_reaching_env, create_balancing_env, create_walking_env
-    )
-    from mujoco_mcp.viewer_server import MuJoCoViewerServer
-    from mujoco_mcp.viewer_client import MuJoCoViewerClient
-except ImportError as e:
-    print(f"❌ Import Error: {e}")
-    sys.exit(1)
+if importlib.util.find_spec("gymnasium") is None:
+    pytest.skip("gymnasium is required for RL integration tests", allow_module_level=True)
+
+from mujoco_mcp.rl_integration import (
+    RLConfig, MuJoCoRLEnvironment, RLTrainer,
+    create_reaching_env, create_balancing_env, create_walking_env
+)
+from mujoco_mcp.viewer_server import MuJoCoViewerServer
+from mujoco_mcp.viewer_client import MuJoCoViewerClient
 
 class RLIntegrationTest:
     """Test RL integration with MuJoCo viewer"""
diff --git a/test_rl_simple.py b/test_rl_simple.py
index 69c9f8d..62ed9c4 100644
--- a/test_rl_simple.py
+++ b/test_rl_simple.py
@@ -3,23 +3,25 @@
 Simplified RL Test - Tests core RL functionality without MuJoCo viewer dependency
 """
 
+import importlib.util
 import sys
 import time
 import numpy as np
 from pathlib import Path
 
+import pytest
+
 # Add src to path for imports
 sys.path.insert(0, str(Path(__file__).parent / "src"))
 
-try:
-    from mujoco_mcp.rl_integration import (
-        RLConfig, MuJoCoRLEnvironment, RLTrainer,
-        create_reaching_env, create_balancing_env, create_walking_env,
-        example_training
-    )
-except ImportError as e:
-    print(f"❌ Import Error: {e}")
-    sys.exit(1)
+if importlib.util.find_spec("gymnasium") is None:
+    pytest.skip("gymnasium is required for RL integration tests", allow_module_level=True)
+
+from mujoco_mcp.rl_integration import (
+    RLConfig, MuJoCoRLEnvironment, RLTrainer,
+    create_reaching_env, create_balancing_env, create_walking_env,
+    example_training
+)
 
 def test_rl_core_functionality():
     """Test core RL functionality without MuJoCo viewer"""