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Running an external python controller from console

While trying to figure out how to integrate the gym interface, I'm trying to get an extern robot python controller running from console. I have follwed the offical guide and my (macOS) env vars set accordingly.

When I try to run the controller by typing:

python (path to controller.py)

I get the following message:

ModuleNotFoundError: No module named 'controller'

Can someone give me a tip how to figure this out?

==========

Update: As asked in the comments, here's my output

environ({'TERM_PROGRAM': 'Hyper', 'TERM': 'xterm-256color', 'SHELL': '/bin/bash', 'TMPDIR': '/var/folders/g1/sqrwrg2d5mn9d48z24mng2280000gn/T/', 'CONDA_SHLVL': '1', 'CONDA_PROMPT_MODIFIER': '(base) ', 'TERM_PROGRAM_VERSION': '3.0.2', 'WEBOTS_HOME': '/Applications/Webots', 'PYTHONIOENCODING': 'UTF-8', 'USER': '[user]', 'CONDA_EXE': '/Users/[user]/anaconda3/bin/conda', '__CF_USER_TEXT_ENCODING': '0x1F5:0x0:0x0', '_CE_CONDA': '', 'PATH': '/Users/[user]/anaconda3/bin:/Users/[user]/anaconda3/condabin:/Library/Frameworks/Python.framework/Versions/3.7/bin:/usr/bin:/bin:/usr/sbin:/sbin:/usr/local/bin:/usr/local/share/dotnet:~/.dotnet/tools:/Library/Frameworks/Mono.framework/Versions/Current/Commands', 'CONDA_PREFIX': '/Users/[user]/anaconda3', 'PWD': '/Users/[user]', 'LANG': 'en_US.UTF-8', 'XPC_FLAGS': '0x0', '_CE_M': '', 'XPC_SERVICE_NAME': '0', 'SHLVL': '1', 'HOME': '/Users/[user]', 'DYLD_LIBRARY_PATH': '/Applications/Webots/lib/controller:', 'PYTHONPATH': '/Applications/Webots/lib/controller/python3X:', 'CONDA_PYTHON_EXE': '/Users/[user]/anaconda3/bin/python', 'LOGNAME': '[user]', 'CONDA_DEFAULT_ENV': 'base', 'COLORTERM': 'truecolor', '_': '/Users/[user]/anaconda3/bin/python'})

Python version

print(sys.version)
3.7.3 (default, Mar 27 2019, 16:54:48) 
[Clang 4.0.1 (tags/RELEASE_401/final)]

==========

Update 2: Segmentation fault: 11 error

Here is my crash report / macOS console output when trying to run "python [extern robot controller].py"

Log from console app

Full Crash Report:

Process:               python3.7 [6940]
Path:                  /Users/USER/*/python3.7
Identifier:            python3.7
Version:               ???
Code Type:             X86-64 (Native)
Parent Process:        bash [5209]
Responsible:           python3.7 [6940]
User ID:               501

Date/Time:             2020-01-22 11:34:43.349 +0100
OS Version:            Mac OS X 10.14.6 (18G2022)
Report Version:        12

Time Awake Since Boot: 33000 seconds
Time Since Wake:       6800 seconds

System Integrity Protection: enabled

Crashed Thread:        0  Dispatch queue: com.apple.main-thread

Exception Type:        EXC_BAD_ACCESS (SIGSEGV)
Exception Codes:       KERN_INVALID_ADDRESS at 0x0000000000000008
Exception Note:        EXC_CORPSE_NOTIFY

Termination Signal:    Segmentation fault: 11
Termination Reason:    Namespace SIGNAL, Code 0xb
Terminating Process:   exc handler [6940]

VM Regions Near 0x8:
--> 
    __TEXT                 0000000104cd3000-0000000104fa4000 [ 2884K] r-x/rwx SM=COW  /Users/USER/*/*.7

Thread 0 Crashed:: Dispatch queue: com.apple.main-thread
0   org.python.python               0x00000001052b4bbc PyTuple_New + 252
1   org.python.python               0x00000001052b76ba PyType_Ready + 218
2   org.python.python               0x00000001052b767c PyType_Ready + 156
3   _controller.so                  0x000000010515b227 SwigPyPacked_TypeOnce() + 87
4   _controller.so                  0x0000000105112a1f SwigPyPacked_type() + 47
5   _controller.so                  0x0000000105110b02 PyInit__controller + 34
6   python                          0x0000000104e6ca6d _PyImport_LoadDynamicModuleWithSpec + 557
7   python                          0x0000000104e6be83 _imp_create_dynamic + 243
8   python                          0x0000000104d0182f _PyMethodDef_RawFastCallDict + 255
9   python                          0x0000000104d02f3d PyCFunction_Call + 61
10  python                          0x0000000104e3cb50 _PyEval_EvalFrameDefault + 46624
11  python                          0x0000000104e302ee _PyEval_EvalCodeWithName + 414
12  python                          0x0000000104d02623 _PyFunction_FastCallKeywords + 195
13  python                          0x0000000104e3ec07 call_function + 183
14  python                          0x0000000104e3ba36 _PyEval_EvalFrameDefault + 42246
15  python                          0x0000000104d01ef5 function_code_fastcall + 117
16  python                          0x0000000104e3ec07 call_function + 183
17  python                          0x0000000104e3b9a0 _PyEval_EvalFrameDefault + 42096
18  python                          0x0000000104d01ef5 function_code_fastcall + 117
19  python                          0x0000000104e3ec07 call_function + 183
20  python                          0x0000000104e3c978 _PyEval_EvalFrameDefault + 46152
21  python                          0x0000000104d01ef5 function_code_fastcall + 117
22  python                          0x0000000104e3ec07 call_function + 183
23  python                          0x0000000104e3c978 _PyEval_EvalFrameDefault + 46152
24  python                          0x0000000104d01ef5 function_code_fastcall + 117
25  python                          0x0000000104e3ec07 call_function + 183
26  python                          0x0000000104e3c978 _PyEval_EvalFrameDefault + 46152
27  python                          0x0000000104d01ef5 function_code_fastcall + 117
28  python                          0x0000000104d04598 object_vacall + 248
29  python                          0x0000000104d04793 _PyObject_CallMethodIdObjArgs + 243
30  python                          0x0000000104e655e8 PyImport_ImportModuleLevelObject + 3640
31  python                          0x0000000104e3a7be _PyEval_EvalFrameDefault + 37518
32  python                          0x0000000104e302ee _PyEval_EvalCodeWithName + 414
33  python                          0x0000000104e2ad1b builtin_exec + 347
34  python                          0x0000000104d0182f _PyMethodDef_RawFastCallDict + 255
35  python                          0x0000000104d02f3d PyCFunction_Call + 61
36  python                          0x0000000104e3cb50 _PyEval_EvalFrameDefault + 46624
37  python                          0x0000000104e302ee _PyEval_EvalCodeWithName + 414
38  python                          0x0000000104d02623 _PyFunction_FastCallKeywords + 195
39  python                          0x0000000104e3ec07 call_function + 183
40  python                          0x0000000104e3ba36 _PyEval_EvalFrameDefault + 42246
41  python                          0x0000000104d01ef5 function_code_fastcall + 117
42  python                          0x0000000104e3ec07 call_function + 183
43  python                          0x0000000104e3b9a0 _PyEval_EvalFrameDefault + 42096
44  python                          0x0000000104d01ef5 function_code_fastcall + 117
45  python                          0x0000000104e3ec07 call_function + 183
46  python                          0x0000000104e3c978 _PyEval_EvalFrameDefault + 46152
47  python                          0x0000000104d01ef5 function_code_fastcall + 117
48  python                          0x0000000104e3ec07 call_function + 183
49  python                          0x0000000104e3c978 _PyEval_EvalFrameDefault + 46152
50  python                          0x0000000104d01ef5 function_code_fastcall + 117
51  python                          0x0000000104d04598 object_vacall + 248
52  python                          0x0000000104d04793 _PyObject_CallMethodIdObjArgs + 243
53  python                          0x0000000104e655e8 PyImport_ImportModuleLevelObject + 3640
54  python                          0x0000000104e3a7be _PyEval_EvalFrameDefault + 37518
55  python                          0x0000000104e302ee _PyEval_EvalCodeWithName + 414
56  python                          0x0000000104e93b30 PyRun_FileExFlags + 256
57  python                          0x0000000104e92fa7 PyRun_SimpleFileExFlags + 391
58  python                          0x0000000104ec0c03 pymain_main + 9635
59  python                          0x0000000104cd4b4d main + 125
60  libdyld.dylib                   0x00007fff605f73d5 start + 1

Thread 0 crashed with X86 Thread State (64-bit):
  rax: 0x0000000000000000  rbx: 0x0000000000000000  rcx: 0x00007ff0981d0070  rdx: 0x0000000000000001
  rdi: 0x00007ffeeaf29720  rsi: 0x00000000000000b0  rbp: 0x00007ffeeaf297b0  rsp: 0x00007ffeeaf297a0
   r8: 0x000000000004896a   r9: 0xffffffff00000000  r10: 0x00007fff965bdf20  r11: 0x0000000000007268
  r12: 0x00007ff0980fe1f0  r13: 0x00007ff0981b6cb0  r14: 0x00007ff0981d0090  r15: 0x00007ff0981b87b0
  rip: 0x00000001052b4bbc  rfl: 0x0000000000010286  cr2: 0x0000000000000008

Logical CPU:     0
Error Code:      0x00000004
Trap Number:     14


Binary Images:
       0x104cd3000 -        0x104fa3ff3 +python (0) <2B301754-257D-3DA4-AE87-D8E7130D0FDD> /Users/USER/*/python
       0x10510b000 -        0x10510cffb +_heapq.cpython-37m-darwin.so (0) <D906D624-3DB4-38D7-BBA7-C5A190E6004D> /Users/USER/*/_heapq.cpython-37m-darwin.so
       0x105110000 -        0x105174ffb +_controller.so (0) <463868E2-5338-37BE-9ACD-C7724ED991D2> /Applications/Webots.app/lib/controller/python37/_controller.so
       0x10519b000 -        0x1051f7ff3 +libController.dylib (0) <A4DC5732-6D61-39C2-BD67-50B59BAF0811> /Applications/Webots.app/lib/controller/libController.dylib
       0x105209000 -        0x10521fff3 +libCppController.dylib (0) <9501D468-20A7-3C3D-869A-0346F0011AAB> /Applications/Webots.app/lib/controller/libCppController.dylib
       0x10524d000 -        0x105426fff +org.python.python (3.7.4, [c] 2001-2019 Python Software Foundation. - 3.7.4) <AC1AEBEB-FF5A-32AD-BAE0-C6A0BCA86B84> /Library/Frameworks/Python.framework/Versions/3.7/Python
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    0x7fff6049c000 -     0x7fff60520fc3  libcorecrypto.dylib (602.260.2) <01464D24-570C-3B83-9D18-467769E0FCDD> /usr/lib/system/libcorecrypto.dylib
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    0x7fff605e1000 -     0x7fff6060dff7  libdyld.dylib (655.1.1) <002418CC-AD11-3D10-865B-015591D24E6C> /usr/lib/system/libdyld.dylib
    0x7fff6060e000 -     0x7fff6060effb  libkeymgr.dylib (30) <0D0F9CA2-8D5A-3273-8723-59987B5827F2> /usr/lib/system/libkeymgr.dylib
    0x7fff6061c000 -     0x7fff6061cff7  liblaunch.dylib (1336.261.2) <2B07E27E-D404-3E98-9D28-BCA641E5C479> /usr/lib/system/liblaunch.dylib
    0x7fff6061d000 -     0x7fff60622fff  libmacho.dylib (927.0.3) <A377D608-77AB-3F6E-90F0-B4F251A5C12F> /usr/lib/system/libmacho.dylib
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    0x7fff60626000 -     0x7fff60627ff7  libremovefile.dylib (45.200.2) <9FBEB2FF-EEBE-31BC-BCFC-C71F8D0E99B6> /usr/lib/system/libremovefile.dylib
    0x7fff60628000 -     0x7fff6063fff3  libsystem_asl.dylib (356.200.4) <A62A7249-38B8-33FA-9875-F1852590796C> /usr/lib/system/libsystem_asl.dylib
    0x7fff60640000 -     0x7fff60640ff7  libsystem_blocks.dylib (73) <A453E8EE-860D-3CED-B5DC-BE54E9DB4348> /usr/lib/system/libsystem_blocks.dylib
    0x7fff60641000 -     0x7fff606c8fff  libsystem_c.dylib (1272.250.1) <7EDACF78-2FA3-35B8-B051-D70475A35117> /usr/lib/system/libsystem_c.dylib
    0x7fff606c9000 -     0x7fff606ccffb  libsystem_configuration.dylib (963.270.3) <2B4A836D-68A4-33E6-8D48-CD4486B03387> /usr/lib/system/libsystem_configuration.dylib
    0x7fff606cd000 -     0x7fff606d0ff7  libsystem_coreservices.dylib (66) <719F75A4-74C5-3BA6-A09E-0C5A3E5889D7> /usr/lib/system/libsystem_coreservices.dylib
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    0x7fff606d8000 -     0x7fff606deffb  libsystem_dnssd.dylib (878.270.3) <97EEE658-D935-33C8-B56E-0F41EA7F6B43> /usr/lib/system/libsystem_dnssd.dylib
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    0x7fff607e8000 -     0x7fff607f2ff7  libsystem_pthread.dylib (330.250.2) <2D5C08FF-484F-3D59-9132-CE1DCB3F76D7> /usr/lib/system/libsystem_pthread.dylib
    0x7fff607f3000 -     0x7fff607f6ff7  libsystem_sandbox.dylib (851.270.1) <9494594B-5199-3186-82AB-5FF8BED6EE16> /usr/lib/system/libsystem_sandbox.dylib
    0x7fff607f7000 -     0x7fff607f9ff3  libsystem_secinit.dylib (30.260.2) <EF1EA47B-7B22-35E8-BD9B-F7003DCB96AE> /usr/lib/system/libsystem_secinit.dylib
    0x7fff607fa000 -     0x7fff60801ff3  libsystem_symptoms.dylib (820.267.1) <03F1C2DD-0F5A-3D9D-88F6-B26C0F94EB52> /usr/lib/system/libsystem_symptoms.dylib
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External Modification Summary:
  Calls made by other processes targeting this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by this process:
    task_for_pid: 0
    thread_create: 0
    thread_set_state: 0
  Calls made by all processes on this machine:
    task_for_pid: 105089
    thread_create: 0
    thread_set_state: 33

VM Region Summary:
ReadOnly portion of Libraries: Total=248.2M resident=0K(0%) swapped_out_or_unallocated=248.2M(100%)
Writable regions: Total=427.5M written=0K(0%) resident=0K(0%) swapped_out=0K(0%) unallocated=427.5M(100%)

                                VIRTUAL   REGION 
REGION TYPE                        SIZE    COUNT (non-coalesced) 
===========                     =======  ======= 
Kernel Alloc Once                    8K        1 
MALLOC                            75.1M       16 
MALLOC guard page                   24K        5 
MALLOC_MEDIUM (reserved)         336.0M        3         reserved VM address space (unallocated)
STACK GUARD                          4K        1 
Stack                             16.0M        1 
__DATA                            4808K       51 
__LINKEDIT                       224.3M        8 
__TEXT                            23.9M       48 
__UNICODE                          564K        1 
shared memory                        8K        2 
===========                     =======  ======= 
TOTAL                            680.6M      137 
TOTAL, minus reserved VM space   344.6M      137

===========

Update 3: Issue resolved !

It's working now! Thanks for your help, David & Fabien ! After doing the above modifications and having the script still crashing, I tried running with python37 instead of python.

Even though my virtual env (anaconda) should also use 3.7 (running python --version yields the same as python3.7 --version), I found out that when running the external controller script with python3.7 works. It seems like Webots is not playing well with virtual envs for the moment.

(base) mac:$ python3.7 --version
Python 3.7.4
(base) mac:$ python --version
Python 3.7.4
(base) mac:$ which python3.7
/Library/Frameworks/Python.framework/Versions/3.7/bin/python3.7
(base) mac:$ which python
/Users/[user]/anaconda3/bin/python
Solution

  • Webots is unfortunately quite sensitive to which Python version is used. You probably didn't installed Python as explained here (From the official installer).

    A correct installation should lead to this result:

    enter image description here

    Please do not use Python from brew or embedded in another app (PyCharm, etc).