#!/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!')"