{
  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";
  };

  # 创建 .venv 软链接到 .devenv/state/venv
  scripts.linkVenv.exec = ''
    if [ -L ".venv" ] || [ ! -e ".venv" ]; then
        rm -f ".venv" 2>/dev/null || true
        ln -s ".devenv/state/venv" ".venv"
        echo "Created symlink: .venv -> .devenv/state/venv"
    elif [ -e ".venv" ]; then
        echo "Warning: .venv exists and is not a symlink. Not replacing it."
        echo "If you want to replace it with a symlink, please remove it manually first."
    fi
  '';

  # 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"

    linkVenv
  '';
}