pycuda is not finding nvcc. Did you try adding /usr/local/cuda/bin to your env PATH variable? That's the way I have this setup.
Edit:
As far as I can tell the configure.py doesn't call nvcc compiler it just creates the the makefile. I take that this problem happens when you run sudo -c "make install" which calls setup.py.
A couple of things to try. Make sure that you have CUDA_ROOT set:
echo $CUDA_ROOT
If it's empty, set it with:
export CUDA_ROOT=/usr/local/cuda/bin
Try running the make command again. Now with the -E to preserve your env:
sudo -E sh -c "make install"
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