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Sip is not on your PYTHONPATH most likely.

See the Caveat for sip:

$ brew info sip
sip: stable 4.13.3, HEAD
http://www.riverbankcomputing.co.uk/software/sip
/usr/local/Cellar/sip/4.13.3 (9 files, 600K) *
https://github.com/mxcl/homebrew/commits/master/Library/Formula/sip.rb
==> Caveats
For non-homebrew Python, you need to amend your PYTHONPATH like so:
  export PYTHONPATH=/usr/local/lib/python2.7/site-packages:$PYTHONPATH

This Caveat is where this step of the Homebrew install instructions come from:

http://ros.org/wiki/groovy/Installation/OSX/Homebrew/Source#Setup_Environment

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