{
  pkgs,
  lib,
  config,
  inputs,
  ...
}: {
  packages = with pkgs; [
    mujoco
    linuxHeaders
  ];

  languages.c.enable = true;
  languages.python = {
    enable = true;
    version = "3.12";
    uv.enable = true;
    venv.enable = true;
    libraries =
      (with pkgs; [
        zlib
        vulkan-loader

        # OpenGL/EGL + DRI
        libGL
        libGLU
        libGLX
        libglvnd
        mesa
        egl-wayland

        # Wayland
        wayland
        libxkbcommon

        # Debug Tools（eglinfo/glxinfo）
        mesa-demos
      ])
      ++ (
        with pkgs.xorg; [
          libXScrnSaver
          libXrender
          libXcursor
          libXdamage
          libXext
          libXfixes
          libXi
          libXrandr
          libX11
          libXcomposite
          libxshmfence
          libXtst
          libxcb
        ]
      );
  };

  env = {
    CPATH = "${pkgs.linuxHeaders}/include";
    KERNEL_DIR = "${pkgs.linuxHeaders}/include";
  };

  # https://devenv.sh/basics/
  enterShell = ''
    export NIX_LD_LIBRARY_PATH="$NIX_LD_LIBRARY_PATH:${lib.makeLibraryPath [ pkgs.linuxHeaders ]}";
    export LD_LIBRARY_PATH="$NIX_LD_LIBRARY_PATH";

    echo "NIX_LD_LIBRARY_PATH set to $NIX_LD_LIBRARY_PATH"
    echo "LD_LIBRARY_PATH set to $LD_LIBRARY_PATH"
    echo "CPATH set to $CPATH"
    echo "KERNEL_DIR set to $KERNEL_DIR"
  '';
}