Merge pull request StanfordVL#910 from StanfordVL/better-install

Improved installation via an install script instead of setup.sh and metapackage

omnigibson/download_datasets.py

@@ -23,7 +23,7 @@ def main():
         print(
             f"If you want to install data under a different path, please change the DATA_PATH variable in omnigibson/macros.py and rerun omnigibson/download_datasets.py."
         )
-        if click.confirm("Do you want to continue?"):
+        if click.confirm("Do you want to continue?", default=True):
             # Only download if the dataset path doesn't exist
             if not dataset_exists:
                 print("Downloading dataset...")

omnigibson/robots/robot_base.py

@@ -1,7 +1,6 @@
 from abc import abstractmethod
 from copy import deepcopy
 
-import matplotlib.pyplot as plt
 import torch as th
 
 import omnigibson.utils.transform_utils as T
@@ -416,6 +415,8 @@ def visualize_sensors(self):
             print(f"Modalities: {remaining_obs_modalities} cannot be visualized, skipping...")
 
         # Write all the frames to a plot
+        import matplotlib.pyplot as plt
+
         for sensor_name, sensor_frames in frames.items():
             n_sensor_frames = len(sensor_frames)
             if n_sensor_frames > 0:

omnigibson/scene_graphs/graph_builder.py

@@ -2,7 +2,6 @@
 
 import networkx as nx
 import torch as th
-from matplotlib import pyplot as plt
 from PIL import Image
 
 from omnigibson import object_states
@@ -300,6 +299,8 @@ def _draw_graph():
     figwidth = imgwidth / figdpi
 
     # Draw the graph onto the figure.
+    import matplotlib.pyplot as plt
+
     fig = plt.figure(figsize=(figwidth, figheight), dpi=figdpi)
     _draw_graph()
     fig.canvas.draw()

omnigibson/simulator.py

@@ -110,6 +110,7 @@ def _launch_app():
     # if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
     # On the regular omniverse launcher version this should not have any impact.
     try:
+        os.environ["OMNI_KIT_ACCEPT_EULA"] = "YES"
         import isaacsim  # noqa: F401
     except ImportError:
         isaacsim = None

omnigibson/systems/macro_particle_system.py

@@ -1,6 +1,4 @@
-import os
-
-import matplotlib.pyplot as plt
+import cv2
 import torch as th
 import trimesh
 
@@ -212,7 +210,7 @@ def process_particle_object(self):
             else:
                 diffuse_texture = self.particle_object.material.diffuse_texture
                 color = (
-                    plt.imread(diffuse_texture).mean(dim=(0, 1))
+                    cv2.imread(diffuse_texture).mean()
                     if diffuse_texture
                     else self.particle_object.material.diffuse_color_constant
                 )

setup.py

@@ -47,10 +47,9 @@
         "rtree~=1.2.0",
         "graphviz~=0.20",
         "numba>=0.60.0",
+        "matplotlib>=3.0.0",
     ],
-    extras_require={
-        "isaac": ["isaacsim-for-omnigibson>=4.1.0"],
-    },
+    extras_require={},
     tests_require=[],
     python_requires=">=3",
     include_package_data=True,