Integrate HoReKa Intel compiler fix for mujoco-py

- Add HoReKa-specific MuJoCo compilation fix to install script
- Pin compatible Cython version (0.29.37)
- Create fix_mujoco_compilation.py helper script
- Document Intel compiler override in README
- Update test script to use integrated fix
- Addresses Intel OneAPI compiler flag incompatibility with GCC

README.md

@@ -84,6 +84,18 @@ The DPPO repository has been adapted to run on the HoReKa cluster. The original
    export MUJOCO_GL=egl
    ```
 
+   c) **HoReKa Intel Compiler Fix**: Due to Intel OneAPI on HoReKa, mujoco-py compilation may fail. Use the provided fix:
+   ```python
+   # In your Python scripts that use MuJoCo, import this first:
+   exec(open('fix_mujoco_compilation.py').read())
+   apply_mujoco_fix()
+   
+   # Then import mujoco_py normally
+   import mujoco_py
+   ```
+   
+   The fix overrides Intel compiler flags to use GCC for mujoco-py compilation. This is automatically included in the installation process.
+
 ### Running on HoReKa
 
 The repository includes pre-configured SLURM scripts for job submission:

fix_mujoco_env.py

@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-import os
-import subprocess
-import sys
-
-# Set up clean compilation environment
-os.environ['CC'] = '/usr/bin/gcc'
-os.environ['CXX'] = '/usr/bin/g++'
-
-# Unset Intel compiler variables that may interfere
-for var in ['ICC_PATH', 'INTEL_COMPILER_HOME', 'INTEL_LICENSE_FILE']:
-    if var in os.environ:
-        del os.environ[var]
-
-# Set MuJoCo environment
-os.environ['MUJOCO_PY_MUJOCO_PATH'] = '/home/hk-project-robolear/ys1087/.mujoco/mujoco210'
-os.environ['LD_LIBRARY_PATH'] = os.environ.get('LD_LIBRARY_PATH', '') + ':/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia'
-os.environ['MUJOCO_GL'] = 'egl'
-
-# Clear any cached compilation
-import shutil
-cache_dir = '.venv/lib/python3.10/site-packages/mujoco_py/generated'
-if os.path.exists(cache_dir):
-    shutil.rmtree(cache_dir)
-    print(f"Cleared cache: {cache_dir}")
-
-print("Environment configured for GCC compilation")
-print(f"CC: {os.environ.get('CC')}")
-print(f"CXX: {os.environ.get('CXX')}")
-
-# Test import
-try:
-    import mujoco_py
-    print("SUCCESS: mujoco_py imported successfully!")
-except Exception as e:
-    print(f"FAILED: {e}")
-    sys.exit(1)

install_dppo.sh

@@ -36,6 +36,53 @@ pip install -e .
 # Install ALL optional dependencies (except Kitchen which has conflicts)
 pip install -e .[all]
 
+# HoReKa-specific MuJoCo compilation fix
+echo ""
+echo "=== HoReKa Cluster MuJoCo Fix ==="
+echo "Applying Intel compiler compatibility fix for mujoco-py..."
+
+# Pin compatible Cython version first
+pip install 'Cython==0.29.37' --force-reinstall
+
+# Create MuJoCo compilation fix script
+cat > fix_mujoco_compilation.py << 'EOF'
+import os
+import sysconfig
+
+def apply_mujoco_fix():
+    """Apply HoReKa Intel compiler compatibility fix for mujoco-py"""
+    
+    # Override compiler settings
+    os.environ['CC'] = '/usr/bin/gcc'
+    os.environ['CXX'] = '/usr/bin/g++'
+    os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
+    os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
+
+    # Patch sysconfig to remove Intel compiler flags
+    if not hasattr(sysconfig, '_original_get_config_var'):
+        def patched_get_config_var(name):
+            if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
+                return '-std=c99 -O2 -fPIC -w'
+            elif name in ['CXXFLAGS']:
+                return '-std=c++11 -O2 -fPIC -w'
+            elif name == 'CC':
+                return '/usr/bin/gcc'
+            elif name == 'CXX':
+                return '/usr/bin/g++'
+            else:
+                return sysconfig._original_get_config_var(name)
+
+        sysconfig._original_get_config_var = sysconfig.get_config_var
+        sysconfig.get_config_var = patched_get_config_var
+        print("Applied HoReKa MuJoCo compilation fix")
+
+if __name__ == "__main__":
+    apply_mujoco_fix()
+EOF
+
+echo "Created MuJoCo compilation fix script"
+echo ""
+
 echo "Installation completed!"
 echo "Python version: $(python --version)"
 echo "Pip version: $(pip --version)"

slurm/dev_tests/test_hopper_finetune_v2.sh

@@ -32,7 +32,11 @@ export DPPO_LOG_DIR=${DPPO_LOG_DIR:-$SLURM_SUBMIT_DIR/log}
 cd $SLURM_SUBMIT_DIR
 source .venv/bin/activate
 
-echo "Testing hopper finetune v2 with stdio.h fix and cleared cache..."
+# Apply HoReKa MuJoCo compilation fix
+echo "Applying HoReKa MuJoCo compilation fix..."
+python -c "exec(open('fix_mujoco_compilation.py').read()); apply_mujoco_fix(); import mujoco_py; print('MuJoCo ready!')"
+
+echo "Testing hopper finetune v2 with HoReKa MuJoCo fix..."
 python script/run.py --config-name=ft_ppo_diffusion_mlp \
     --config-dir=cfg/gym/finetune/hopper-v2 \
     train.n_train_itr=10 \

slurm/dev_tests/test_mujoco_clean.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_clean
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_clean_%j.out
+#SBATCH --error=logs/dppo_mujoco_clean_%j.err
+
+# Load only CUDA, avoid Intel modules completely
+module purge
+module load devel/cuda/12.4
+
+# Clean environment - remove any Intel compiler variables
+unset CFLAGS
+unset CXXFLAGS
+unset LDFLAGS
+unset CC
+unset CXX
+
+# Force pure GCC environment
+export CC=/usr/bin/gcc
+export CXX=/usr/bin/g++
+export CFLAGS="-std=c99"
+export CXXFLAGS="-std=c++11"
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Complete mujoco-py cleanup
+echo "Removing all mujoco-py build artifacts..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+# Fresh mujoco-py install
+echo "Reinstalling mujoco-py with clean GCC environment..."
+pip uninstall mujoco-py -y
+pip install 'mujoco-py<2.2,>=2.1'
+
+# MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+echo "Testing mujoco-py import with clean environment..."
+python -c "import mujoco_py; print('SUCCESS: mujoco_py works with clean GCC compilation!')"

slurm/dev_tests/test_mujoco_cython_fix.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_cython
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_cython_%j.out
+#SBATCH --error=logs/dppo_mujoco_cython_%j.err
+
+# Load Intel OneAPI for Python support but use GCC for compilation
+module load devel/cuda/12.4
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Force GCC compilation
+export CC=/usr/bin/gcc
+export CXX=/usr/bin/g++
+export CFLAGS="-std=c99 -O2 -fPIC"
+export CXXFLAGS="-std=c++11 -O2 -fPIC"
+
+# Clean mujoco-py completely
+echo "Removing all mujoco-py build artifacts..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+echo "Downgrading Cython to compatible version..."
+pip install 'Cython<3.0,>=0.29.20' --force-reinstall
+
+echo "Reinstalling mujoco-py with compatible Cython..."
+pip uninstall mujoco-py -y
+pip install 'mujoco-py<2.2,>=2.1' --no-cache-dir --force-reinstall
+
+# MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+echo "Testing mujoco-py import with compatible Cython..."
+python -c "import mujoco_py; print('SUCCESS: mujoco_py compiled with compatible Cython and GCC!')"

slurm/dev_tests/test_mujoco_final.sh

@@ -0,0 +1,50 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_final
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_final_%j.out
+#SBATCH --error=logs/dppo_mujoco_final_%j.err
+
+# Load Intel OneAPI for Python support but use GCC for compilation
+module load devel/cuda/12.4
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Force GCC compilation
+export CC=/usr/bin/gcc
+export CXX=/usr/bin/g++
+export CFLAGS="-std=c99 -O2 -fPIC"
+export CXXFLAGS="-std=c++11 -O2 -fPIC"
+
+# Clean mujoco-py completely
+echo "Removing all mujoco-py build artifacts..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+echo "Installing exact compatible versions..."
+pip uninstall mujoco-py cython -y
+
+# Install compatible Cython first and pin it
+pip install 'Cython==0.29.37'
+
+# Install mujoco-py without allowing dependency upgrades
+pip install 'mujoco-py<2.2,>=2.1' --no-deps
+pip install 'glfw>=1.4.0' 'numpy>=1.11,<2.0' 'imageio>=2.1.2' 'cffi>=1.10' 'fasteners~=0.15'
+
+# MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+echo "Testing mujoco-py import with pinned compatible versions..."
+python -c "import mujoco_py; print('SUCCESS: mujoco_py compiled successfully!')"

slurm/dev_tests/test_mujoco_intel_compat.sh

@@ -0,0 +1,46 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_intel
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_intel_%j.out
+#SBATCH --error=logs/dppo_mujoco_intel_%j.err
+
+# Load Intel OneAPI properly with compatibility mode
+module load devel/cuda/12.4
+
+# Force compatibility mode for Intel compiler
+export CFLAGS="-std=c99 -w"
+export CXXFLAGS="-std=c++11 -w"
+export CC=gcc
+export CXX=g++
+
+# Completely remove any cached builds
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Remove ALL mujoco_py cache and build artifacts
+echo "Removing all mujoco-py build artifacts..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+# Reinstall mujoco-py from scratch
+echo "Reinstalling mujoco-py..."
+pip uninstall mujoco-py -y
+pip install 'mujoco-py<2.2,>=2.1'
+
+# Set MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+echo "Testing mujoco-py import after fresh install..."
+python -c "import mujoco_py; print('SUCCESS: mujoco_py works!')"

slurm/dev_tests/test_mujoco_isolated.sh

@@ -0,0 +1,57 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_isolated
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_isolated_%j.out
+#SBATCH --error=logs/dppo_mujoco_isolated_%j.err
+
+# Keep Intel OneAPI for Python but isolate compilation
+module load devel/cuda/12.4
+module load compiler/intel/2023.2.1
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Override all compiler settings to force pure GCC
+export CC=/usr/bin/gcc
+export CXX=/usr/bin/g++
+
+# Clear all Intel compiler flags 
+unset CFLAGS
+unset CXXFLAGS
+unset FFLAGS
+unset LDFLAGS
+
+# Set clean GCC-compatible flags
+export CFLAGS="-std=c99 -O2 -fPIC"
+export CXXFLAGS="-std=c++11 -O2 -fPIC"
+
+# Clean mujoco-py completely
+echo "Removing all mujoco-py build artifacts..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+# Force clean distutils cache
+rm -rf ~/.cache/pip/
+python -c "import distutils.util; import shutil; shutil.rmtree(distutils.util.get_platform(), ignore_errors=True)" 2>/dev/null || true
+
+echo "Reinstalling mujoco-py with isolated GCC compilation..."
+pip uninstall mujoco-py -y
+pip install 'mujoco-py<2.2,>=2.1' --no-cache-dir --force-reinstall
+
+# MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+echo "Testing mujoco-py import with isolated GCC compilation..."
+python -c "import mujoco_py; print('SUCCESS: mujoco_py compiled with isolated GCC!')"

slurm/dev_tests/test_mujoco_override.sh

@@ -0,0 +1,88 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_override
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_override_%j.out
+#SBATCH --error=logs/dppo_mujoco_override_%j.err
+
+# Load only CUDA for OpenGL support
+module load devel/cuda/12.4
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Override ALL compiler settings completely
+export CC=/usr/bin/gcc
+export CXX=/usr/bin/g++
+export CPP=/usr/bin/cpp
+
+# Clear ALL Intel-specific environment variables
+unset CFLAGS
+unset CXXFLAGS
+unset FFLAGS
+unset LDFLAGS
+unset OPT
+
+# Set clean GCC-only flags that override everything
+export CFLAGS="-std=c99 -O2 -fPIC -w"
+export CXXFLAGS="-std=c++11 -O2 -fPIC -w"
+export LDFLAGS=""
+
+# Clean mujoco-py completely first
+echo "Cleaning all mujoco-py artifacts..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/generated/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+# Set MuJoCo environment
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+# Test with direct Python override of distutils compiler flags
+echo "Testing mujoco-py with aggressive compiler flag override..."
+python -c "
+import os
+import distutils.util
+import sysconfig
+
+# Override Python's built-in compiler settings
+os.environ['CC'] = '/usr/bin/gcc'
+os.environ['CXX'] = '/usr/bin/g++'
+os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
+os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
+
+# Hack: Override sysconfig to remove Intel flags
+import sys
+def patched_get_config_var(name):
+    if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
+        return '-std=c99 -O2 -fPIC -w'
+    elif name in ['CXXFLAGS', 'CXX']:
+        return '-std=c++11 -O2 -fPIC -w'
+    elif name == 'CC':
+        return '/usr/bin/gcc'
+    else:
+        # Call the original function for other variables
+        return sysconfig._original_get_config_var(name)
+
+# Store original and patch
+sysconfig._original_get_config_var = sysconfig.get_config_var
+sysconfig.get_config_var = patched_get_config_var
+
+print('Attempting mujoco_py import with patched sysconfig...')
+try:
+    import mujoco_py
+    print('SUCCESS: mujoco_py compiled and imported successfully!')
+except Exception as e:
+    print(f'FAILED: {e}')
+    import traceback
+    traceback.print_exc()
+"

slurm/dev_tests/test_mujoco_success.sh

@@ -0,0 +1,70 @@
+#!/bin/bash
+#SBATCH --job-name=dppo_mujoco_success
+#SBATCH --account=hk-project-p0022232
+#SBATCH --partition=dev_accelerated
+#SBATCH --gres=gpu:1
+#SBATCH --nodes=1
+#SBATCH --ntasks-per-node=1
+#SBATCH --cpus-per-task=8
+#SBATCH --time=00:30:00
+#SBATCH --mem=24G
+#SBATCH --output=logs/dppo_mujoco_success_%j.out
+#SBATCH --error=logs/dppo_mujoco_success_%j.err
+
+# Load only CUDA
+module load devel/cuda/12.4
+
+cd $SLURM_SUBMIT_DIR
+source .venv/bin/activate
+
+# Set MuJoCo environment first
+export MUJOCO_PY_MUJOCO_PATH=/home/hk-project-robolear/ys1087/.mujoco/mujoco210
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/hk-project-robolear/ys1087/.mujoco/mujoco210/bin:/usr/lib/nvidia
+export MUJOCO_GL=egl
+
+# Clean only build cache, not generated files that need to be recreated
+echo "Cleaning build cache..."
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/.eggs/
+rm -rf .venv/lib/python3.10/site-packages/mujoco_py/build/
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.so" -delete
+find .venv/lib/python3.10/site-packages/mujoco_py/ -name "*.pyc" -delete
+
+# Test with sysconfig override but let mujoco-py generate what it needs
+echo "Testing mujoco-py with sysconfig override and proper generation..."
+python -c "
+import os
+import sysconfig
+
+# Override compiler settings
+os.environ['CC'] = '/usr/bin/gcc'
+os.environ['CXX'] = '/usr/bin/g++'
+os.environ['CFLAGS'] = '-std=c99 -O2 -fPIC -w'
+os.environ['CXXFLAGS'] = '-std=c++11 -O2 -fPIC -w'
+
+# Patch sysconfig to remove Intel flags
+def patched_get_config_var(name):
+    if name in ['CFLAGS', 'BASECFLAGS', 'PY_CFLAGS', 'PY_CORE_CFLAGS', 'CCSHARED']:
+        return '-std=c99 -O2 -fPIC -w'
+    elif name in ['CXXFLAGS']:
+        return '-std=c++11 -O2 -fPIC -w'
+    elif name == 'CC':
+        return '/usr/bin/gcc'
+    elif name == 'CXX':
+        return '/usr/bin/g++'
+    else:
+        # Call original for other config vars
+        return sysconfig._original_get_config_var(name)
+
+# Store original and apply patch
+sysconfig._original_get_config_var = sysconfig.get_config_var
+sysconfig.get_config_var = patched_get_config_var
+
+print('Testing mujoco_py import with sysconfig patch...')
+try:
+    import mujoco_py
+    print('SUCCESS: mujoco_py compiled and imported successfully with GCC override!')
+except Exception as e:
+    print(f'FAILED: {e}')
+    import traceback
+    traceback.print_exc()
+"