diff --git a/.envrc b/.envrc
new file mode 100644
index 0000000..9d80983
--- /dev/null
+++ b/.envrc
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+export DIRENV_WARN_TIMEOUT=20s
+
+eval "$(devenv direnvrc)"
+
+# `use devenv` supports the same options as the `devenv shell` command.
+#
+# To silence all output, use `--quiet`.
+#
+# Example usage: use devenv --quiet --impure --option services.postgres.enable:bool true
+use devenv -i
diff --git a/.gitignore b/.gitignore
index b7faf40..61d3d11 100644
--- a/.gitignore
+++ b/.gitignore
@@ -136,7 +136,6 @@ celerybeat.pid
 
 # Environments
 .env
-.envrc
 .venv
 env/
 venv/
@@ -182,9 +181,9 @@ cython_debug/
 .abstra/
 
 # Visual Studio Code
-#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore 
+#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
 #  that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
-#  and can be added to the global gitignore or merged into this file. However, if you prefer, 
+#  and can be added to the global gitignore or merged into this file. However, if you prefer,
 #  you could uncomment the following to ignore the entire vscode folder
 # .vscode/
 
@@ -205,3 +204,18 @@ cython_debug/
 marimo/_static/
 marimo/_lsp/
 __marimo__/
+
+# Projects
+data/
+deps/
+
+# Devenv
+.devenv*
+devenv.local.nix
+devenv.local.yaml
+
+# direnv
+.direnv
+
+# pre-commit
+.pre-commit-config.yaml
diff --git a/.justfile b/.justfile
new file mode 100644
index 0000000..1991978
--- /dev/null
+++ b/.justfile
@@ -0,0 +1,13 @@
+activate:
+    micromamba activate ./.venv
+
+update-venv:
+    micromamba env export --no-builds | grep -v "prefix" > venv.yaml
+
+download-test:
+    python -m habitat_sim.utils.datasets_download --uids habitat_test_scenes --data-path data/
+    python -m habitat_sim.utils.datasets_download --uids habitat_test_pointnav_dataset --data-path data/
+    python -m habitat_sim.utils.datasets_download --uids replica_cad_dataset --data-path data/
+    python -m habitat_sim.utils.datasets_download --uids rearrange_dataset_v2 --data-path data/
+    python -m habitat_sim.utils.datasets_download --uids hab_fetch --data-path data/
+    python -m habitat_sim.utils.datasets_download --uids ycb --data-path data/
diff --git a/devenv.lock b/devenv.lock
new file mode 100644
index 0000000..e4c2c00
--- /dev/null
+++ b/devenv.lock
@@ -0,0 +1,167 @@
+{
+  "nodes": {
+    "devenv": {
+      "locked": {
+        "dir": "src/modules",
+        "lastModified": 1769601151,
+        "owner": "cachix",
+        "repo": "devenv",
+        "rev": "b2ef1164b4f330d6b11c6ad3da962452eab7b3bb",
+        "type": "github"
+      },
+      "original": {
+        "dir": "src/modules",
+        "owner": "cachix",
+        "repo": "devenv",
+        "type": "github"
+      }
+    },
+    "flake-compat": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1767039857,
+        "owner": "NixOS",
+        "repo": "flake-compat",
+        "rev": "5edf11c44bc78a0d334f6334cdaf7d60d732daab",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "repo": "flake-compat",
+        "type": "github"
+      }
+    },
+    "flake-utils": {
+      "inputs": {
+        "systems": "systems"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "git-hooks": {
+      "inputs": {
+        "flake-compat": "flake-compat",
+        "gitignore": "gitignore",
+        "nixpkgs": [
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1769069492,
+        "owner": "cachix",
+        "repo": "git-hooks.nix",
+        "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23",
+        "type": "github"
+      },
+      "original": {
+        "owner": "cachix",
+        "repo": "git-hooks.nix",
+        "type": "github"
+      }
+    },
+    "gitignore": {
+      "inputs": {
+        "nixpkgs": [
+          "git-hooks",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1762808025,
+        "owner": "hercules-ci",
+        "repo": "gitignore.nix",
+        "rev": "cb5e3fdca1de58ccbc3ef53de65bd372b48f567c",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "gitignore.nix",
+        "type": "github"
+      }
+    },
+    "nixgl": {
+      "inputs": {
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
+      },
+      "locked": {
+        "lastModified": 1762090880,
+        "owner": "nix-community",
+        "repo": "nixGL",
+        "rev": "b6105297e6f0cd041670c3e8628394d4ee247ed5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-community",
+        "repo": "nixGL",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1769664171,
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "rev": "effc419e5e4bddeda827eb688347bef40733bc1c",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nixos",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs_2": {
+      "locked": {
+        "lastModified": 1767052823,
+        "owner": "cachix",
+        "repo": "devenv-nixpkgs",
+        "rev": "538a5124359f0b3d466e1160378c87887e3b51a4",
+        "type": "github"
+      },
+      "original": {
+        "owner": "cachix",
+        "ref": "rolling",
+        "repo": "devenv-nixpkgs",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "devenv": "devenv",
+        "git-hooks": "git-hooks",
+        "nixgl": "nixgl",
+        "nixpkgs": "nixpkgs_2",
+        "pre-commit-hooks": [
+          "git-hooks"
+        ]
+      }
+    },
+    "systems": {
+      "locked": {
+        "lastModified": 1681028828,
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
diff --git a/devenv.nix b/devenv.nix
new file mode 100644
index 0000000..0749d07
--- /dev/null
+++ b/devenv.nix
@@ -0,0 +1,63 @@
+{
+  pkgs,
+  lib,
+  config,
+  inputs,
+  ...
+}: let
+  pkgs-nixgl =
+    (import inputs.nixpkgs {
+      system = pkgs.stdenv.hostPlatform.system;
+      config.allowUnfree = true;
+      overlays = [inputs.nixgl.overlay];
+    }).nixgl.override {
+      nvidiaVersionFile = "/proc/driver/nvidia/version";
+      nvidiaVersion = "580.126.09";
+    };
+in {
+  # https://devenv.sh/basics/
+  # env.GREET = "devenv";
+
+  # https://devenv.sh/packages/
+  packages = [
+    pkgs-nixgl.auto.nixGLNvidia
+  ];
+
+  # https://devenv.sh/languages/
+  # languages.rust.enable = true;
+
+  # https://devenv.sh/processes/
+  # processes.dev.exec = "${lib.getExe pkgs.watchexec} -n -- ls -la";
+
+  # https://devenv.sh/services/
+  # services.postgres.enable = true;
+
+  # https://devenv.sh/scripts/
+  # scripts.hello.exec = ''
+  #   echo hello from $GREET
+  # '';
+
+  # https://devenv.sh/basics/
+  enterShell = ''
+    eval "$(micromamba shell hook --shell bash)"
+    micromamba activate ./.venv
+    export PATH=$PATH:/home/sikongjueluo/Projects/Mini-Nav
+  '';
+
+  # https://devenv.sh/tasks/
+  # tasks = {
+  #   "myproj:setup".exec = "mytool build";
+  #   "devenv:enterShell".after = [ "myproj:setup" ];
+  # };
+
+  # https://devenv.sh/tests/
+  # enterTest = ''
+  #   echo "Running tests"
+  #   git --version | grep --color=auto "${pkgs.git.version}"
+  # '';
+
+  # https://devenv.sh/git-hooks/
+  # git-hooks.hooks.shellcheck.enable = true;
+
+  # See full reference at https://devenv.sh/reference/options/
+}
diff --git a/devenv.yaml b/devenv.yaml
new file mode 100644
index 0000000..d6bcffa
--- /dev/null
+++ b/devenv.yaml
@@ -0,0 +1,17 @@
+# yaml-language-server: $schema=https://devenv.sh/devenv.schema.json
+inputs:
+    nixpkgs:
+        url: github:cachix/devenv-nixpkgs/rolling
+    nixgl:
+        url: "github:nix-community/nixGL"
+
+# If you're using non-OSS software, you can set allowUnfree to true.
+# allowUnfree: true
+
+# If you're willing to use a package that's vulnerable
+# permittedInsecurePackages:
+#  - "openssl-1.1.1w"
+
+# If you have more than one devenv you can merge them
+#imports:
+# - ./backend
diff --git a/venv.yaml b/venv.yaml
new file mode 100644
index 0000000..969e2d8
--- /dev/null
+++ b/venv.yaml
@@ -0,0 +1,321 @@
+name: 
+channels:
+  - aihabitat
+  - conda-forge
+  - https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main
+dependencies:
+  - _libgcc_mutex=0.1
+  - _openmp_mutex=4.5
+  - aiodns=3.5.0
+  - aiohappyeyeballs=2.6.1
+  - aiohttp=3.12.15
+  - aiosignal=1.4.0
+  - alsa-lib=1.2.15.3
+  - aom=3.9.1
+  - arrow-cpp=19.0.0
+  - async-timeout=5.0.1
+  - attrs=25.3.0
+  - aws-c-auth=0.8.5
+  - aws-c-cal=0.8.5
+  - aws-c-common=0.11.1
+  - aws-c-compression=0.3.1
+  - aws-c-event-stream=0.5.4
+  - aws-c-http=0.9.3
+  - aws-c-io=0.17.0
+  - aws-c-mqtt=0.12.2
+  - aws-c-s3=0.7.11
+  - aws-c-sdkutils=0.2.3
+  - aws-checksums=0.2.3
+  - aws-crt-cpp=0.31.0
+  - aws-sdk-cpp=1.11.528
+  - brotli=1.0.9
+  - brotli-bin=1.0.9
+  - brotlicffi=1.0.9.2
+  - bzip2=1.0.8
+  - c-ares=1.34.6
+  - ca-certificates=2026.1.4
+  - cairo=1.18.4
+  - certifi=2025.8.3
+  - cffi=2.0.0
+  - charset-normalizer=3.4.4
+  - cmake=3.14.0
+  - colorama=0.4.6
+  - contourpy=1.3.0
+  - curl=8.8.0
+  - cycler=0.12.1
+  - cyrus-sasl=2.1.28
+  - datasets=3.3.2
+  - dav1d=1.2.1
+  - dbus=1.16.2
+  - dill=0.3.8
+  - expat=2.7.3
+  - filelock=3.17.0
+  - fontconfig=2.14.2
+  - fonttools=4.59.1
+  - freetype=2.13.3
+  - fribidi=1.0.16
+  - frozenlist=1.8.0
+  - fsspec=2024.12.0
+  - gflags=2.2.2
+  - gitdb=4.0.12
+  - gitpython=3.1.45
+  - glog=0.5.0
+  - graphite2=1.3.14
+  - habitat-sim=0.3.3
+  - habitat-sim-mutex=1.0
+  - harfbuzz=10.2.0
+  - hf-xet=1.1.8
+  - huggingface_hub=0.34.4
+  - icu=73.2
+  - idna=3.11
+  - imageio=2.37.0
+  - importlib-resources=6.5.2
+  - importlib_resources=6.5.2
+  - jpeg=9e
+  - keyutils=1.6.3
+  - kiwisolver=1.4.7
+  - krb5=1.21.3
+  - lcms2=2.17
+  - ld_impl_linux-64=2.45
+  - lerc=4.0.0
+  - libabseil=20250127.0
+  - libavif=1.3.0
+  - libavif16=1.3.0
+  - libblas=3.11.0
+  - libbrotlicommon=1.0.9
+  - libbrotlidec=1.0.9
+  - libbrotlienc=1.0.9
+  - libcblas=3.11.0
+  - libclang13=21.1.8
+  - libcups=2.4.15
+  - libcurl=8.8.0
+  - libdeflate=1.22
+  - libdrm=2.4.125
+  - libedit=3.1.20250104
+  - libegl=1.7.0
+  - libev=4.33
+  - libevent=2.1.12
+  - libexpat=2.7.3
+  - libffi=3.5.2
+  - libgcc=15.2.0
+  - libgcc-ng=15.2.0
+  - libgfortran=15.2.0
+  - libgfortran-ng=15.2.0
+  - libgfortran5=15.2.0
+  - libgl=1.7.0
+  - libglib=2.84.2
+  - libglvnd=1.7.0
+  - libglx=1.7.0
+  - libgomp=15.2.0
+  - libgrpc=1.71.0
+  - libiconv=1.18
+  - libkrb5=1.21.3
+  - liblapack=3.11.0
+  - libllvm14=14.0.6
+  - libllvm15=15.0.7
+  - libllvm21=21.1.8
+  - liblzma=5.8.2
+  - liblzma-devel=5.8.2
+  - libnghttp2=1.58.0
+  - libnsl=2.0.1
+  - libntlm=1.8
+  - libopenblas=0.3.30
+  - libopus=1.6.1
+  - libpciaccess=0.18
+  - libpng=1.6.43
+  - libpq=17.6
+  - libprotobuf=5.29.3
+  - libre2-11=2024.07.02
+  - libsqlite=3.46.0
+  - libssh2=1.11.0
+  - libstdcxx=15.2.0
+  - libstdcxx-ng=15.2.0
+  - libthrift=0.15.0
+  - libtiff=4.7.1
+  - libuuid=2.41.3
+  - libuv=1.51.0
+  - libvpx=1.13.1
+  - libwebp-base=1.6.0
+  - libxcb=1.17.0
+  - libxcrypt=4.4.36
+  - libxkbcommon=1.11.0
+  - libxkbfile=1.1.0
+  - libxml2=2.13.9
+  - libxslt=1.1.43
+  - libzlib=1.2.13
+  - llvmlite=0.43.0
+  - lmdb=0.9.31
+  - lz4-c=1.9.4
+  - matplotlib=3.9.4
+  - matplotlib-base=3.9.4
+  - mesalib=25.1.5
+  - multidict=6.7.0
+  - multiprocess=0.70.15
+  - munkres=1.1.4
+  - mysql-common=9.3.0
+  - mysql-libs=9.3.0
+  - ncurses=6.5
+  - nspr=4.38
+  - nss=3.100
+  - numba=0.60.0
+  - numpy=1.26.4
+  - openjpeg=2.5.2
+  - openldap=2.6.10
+  - openssl=3.6.0
+  - orc=2.1.1
+  - packaging=26.0
+  - pandas=1.2.4
+  - pcre2=10.42
+  - pillow=11.3.0
+  - pip=25.2
+  - pixman=0.46.4
+  - propcache=0.3.1
+  - protobuf=5.29.3
+  - pthread-stubs=0.4
+  - pyarrow=19.0.0
+  - pycares=4.10.0
+  - pycparser=2.23
+  - pyparsing=3.2.3
+  - pyside6=6.9.2
+  - pysocks=1.7.1
+  - python=3.9.19
+  - python-dateutil=2.9.0.post0
+  - python-xxhash=3.5.0
+  - python_abi=3.9
+  - pytz=2025.2
+  - pyyaml=6.0.2
+  - qhull=2020.2
+  - qtbase=6.9.2
+  - qtdeclarative=6.9.2
+  - qtshadertools=6.9.2
+  - qtsvg=6.9.2
+  - qttools=6.9.2
+  - qtwebchannel=6.9.2
+  - qtwebengine=6.9.1
+  - qtwebsockets=6.9.2
+  - quaternion=2023.0.4
+  - rav1e=0.7.1
+  - re2=2024.07.02
+  - readline=8.3
+  - regex=2025.9.1
+  - requests=2.32.5
+  - rhash=1.4.3
+  - s2n=1.5.14
+  - safetensors=0.5.3
+  - scipy=1.13.1
+  - setuptools=80.9.0
+  - six=1.17.0
+  - smmap=3.0.5
+  - snappy=1.2.2
+  - spirv-tools=2025.4
+  - sqlite=3.51.1
+  - svt-av1=3.1.2
+  - tk=8.6.13
+  - tokenizers=0.21.0
+  - tornado=6.5.2
+  - tqdm=4.67.1
+  - transformers=4.49.0
+  - typing-extensions=4.15.0
+  - typing_extensions=4.15.0
+  - tzdata=2025c
+  - unicodedata2=16.0.0
+  - urllib3=2.5.0
+  - utf8proc=2.6.1
+  - uvloop=0.22.1
+  - wheel=0.45.1
+  - withbullet=2.0
+  - xcb-util=0.4.1
+  - xcb-util-cursor=0.1.6
+  - xcb-util-image=0.4.0
+  - xcb-util-keysyms=0.4.1
+  - xcb-util-renderutil=0.3.10
+  - xcb-util-wm=0.4.2
+  - xkeyboard-config=2.46
+  - xorg-libice=1.1.2
+  - xorg-libsm=1.2.6
+  - xorg-libx11=1.8.12
+  - xorg-libxau=1.0.12
+  - xorg-libxcomposite=0.4.6
+  - xorg-libxcursor=1.2.3
+  - xorg-libxdamage=1.1.6
+  - xorg-libxdmcp=1.1.5
+  - xorg-libxext=1.3.6
+  - xorg-libxfixes=6.0.2
+  - xorg-libxi=1.8.2
+  - xorg-libxinerama=1.1.5
+  - xorg-libxrandr=1.5.4
+  - xorg-libxrender=0.9.12
+  - xorg-libxshmfence=1.3.3
+  - xorg-libxtst=1.2.5
+  - xorg-libxxf86vm=1.1.6
+  - xxhash=0.8.0
+  - xz=5.8.2
+  - xz-gpl-tools=5.8.2
+  - xz-tools=5.8.2
+  - yaml=0.2.5
+  - yarl=1.18.0
+  - zipp=3.23.0
+  - zlib=1.2.13
+  - zstd=1.5.6
+  - pip:
+    - Jinja2==3.1.6
+    - Markdown==3.9
+    - MarkupSafe==3.0.3
+    - Pygments==2.19.2
+    - Werkzeug==3.1.5
+    - absl-py==2.3.1
+    - antlr4-python3-runtime==4.9.3
+    - braceexpand==0.1.7
+    - click==8.1.8
+    - cloudpickle==3.1.2
+    - decorator==5.2.1
+    - faster-fifo==1.5.2
+    - grpcio==1.76.0
+    - gym==0.23.0
+    - gym-notices==0.1.0
+    - habitat-baselines==0.3.320250127
+    - habitat-lab==0.3.320250127
+    - hydra-core==1.3.2
+    - ifcfg==0.24
+    - imageio-ffmpeg==0.6.0
+    - importlib_metadata==8.7.1
+    - lmdb==1.7.5
+    - markdown-it-py==3.0.0
+    - mdurl==0.1.2
+    - moviepy==2.2.1
+    - mpmath==1.3.0
+    - msgpack==1.1.2
+    - networkx==3.2.1
+    - nvidia-cublas-cu12==12.8.4.1
+    - nvidia-cuda-cupti-cu12==12.8.90
+    - nvidia-cuda-nvrtc-cu12==12.8.93
+    - nvidia-cuda-runtime-cu12==12.8.90
+    - nvidia-cudnn-cu12==9.10.2.21
+    - nvidia-cufft-cu12==11.3.3.83
+    - nvidia-cufile-cu12==1.13.1.3
+    - nvidia-curand-cu12==10.3.9.90
+    - nvidia-cusolver-cu12==11.7.3.90
+    - nvidia-cusparse-cu12==12.5.8.93
+    - nvidia-cusparselt-cu12==0.7.1
+    - nvidia-nccl-cu12==2.27.3
+    - nvidia-nvjitlink-cu12==12.8.93
+    - nvidia-nvtx-cu12==12.8.90
+    - objectio==0.2.29
+    - omegaconf==2.3.0
+    - opencv-python==4.11.0.86
+    - pillow==10.4.0
+    - proglog==0.1.12
+    - python-dotenv==1.2.1
+    - rich==14.3.1
+    - shellingham==1.5.4
+    - simplejson==3.20.2
+    - sympy==1.14.0
+    - tensorboard==2.20.0
+    - tensorboard-data-server==0.7.2
+    - threadpoolctl==3.6.0
+    - torch==2.8.0
+    - torchvision==0.23.0
+    - triton==3.4.0
+    - typer==0.21.1
+    - webdataset==0.1.40
+