Package dependencies

.github/workflows/ci-base-tests-linux.yml

@@ -30,7 +30,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip
           pip install wheel==0.38.4
-          pip install -e .[camera_obs,opendrive,test,test_notebook,torch,train,gym,argoverse]
+          pip install -e .[camera_obs,opendrive,test,test_notebook,torch,train,gym,argoverse,envision]
           if echo ${{matrix.tests}} | grep -q -e "env" -e "examples"; then pip install -e .[rllib]; fi
           if echo ${{matrix.tests}} | grep -q "/ray"; then pip install -e .[ray]; fi
       - name: Run smoke tests

.github/workflows/ci-base-tests-mac.yml

@@ -48,7 +48,7 @@ jobs:
           pip install --upgrade pip
           pip install wheel==0.38.4
           pip install -r utils/setup/mac_requirements.txt
-          pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train,argoverse]
+          pip install -e .[camera_obs,opendrive,rllib,test,test_notebook,torch,train,argoverse,envision]
           if echo ${{matrix.tests}} | grep -q -e "/env" -e "/examples"; then pip install -e .[rllib]; fi
           if echo ${{matrix.tests}} | grep -q "/ray"; then pip install -e .[ray]; fi
       - name: Run smoke tests

.github/workflows/ci-format.yml

@@ -94,7 +94,7 @@ jobs:
           . ${{env.venv_dir}}/bin/activate
           pip install --upgrade pip "setuptools<58.3.0"
           pip install wheel==0.38.4
-          pip install .[camera_obs,doc,train,ray]
+          pip install .[camera_obs,doc,train,ray,envision,argoverse,opendrive,waymo]
           cd ${GITHUB_WORKSPACE}/docs
           make html SPHINXOPTS="-W -T -E --keep-going"
       - name: Check build output
@@ -105,4 +105,4 @@ jobs:
           else
               echo "Sphinx build failed."
               exit 1
-          fi
+          fi

CHANGELOG.md

@@ -13,10 +13,13 @@ Copy and pasting the git commit messages is __NOT__ enough.
 ### Changed
 - Changed waypoints in sumo maps to use more incoming lanes into junctions.
 - Increased the cutoff radius for filtering out waypoints that are too far away in junctions in sumo maps.
+- Made Envision dependencies optional. Use `pip install -e .[envision]` to install them.
+- Made Waymo dependencies optional. Use `pip install -e .[waymo]` to install them.
 ### Deprecated
 ### Fixed
 - Fixed implementations of `RoadMap.waypoint_paths()` to ensure that the result is never empty.
 ### Removed
+- Removed the following dependencies from smarts: `pandas`, `rich`, `twisted`, `sh`.
 ### Security
 
 ## [1.1.0] # 2023-04-28

cli/envision.py

@@ -19,8 +19,6 @@
 # THE SOFTWARE.
 import click
 
-from envision.server import run
-
 
 @click.group(
     name="envision",
@@ -43,6 +41,8 @@ def envision_cli():
     type=float,
 )
 def start_server(port, max_capacity):
+    from envision.server import run
+
     run(max_capacity_mb=max_capacity, port=port)
 
 

cli/waymo.py

@@ -22,8 +22,6 @@
 import click
 import tableprint as tp
 
-from smarts.waymo import waymo_utils
-
 
 @click.group(
     name="waymo",
@@ -40,6 +38,8 @@ def waymo_cli():
     "tfrecord_file", type=click.Path(exists=True), metavar="<tfrecord_file>"
 )
 def overview(tfrecord_file: str):
+    from smarts.waymo import waymo_utils
+
     scenarios = waymo_utils.get_tfrecord_info(tfrecord_file)
     rows = [
         [k, v["timestamps"], v["vehicles"], v["pedestrians"]]
@@ -79,6 +79,8 @@ def preview(
     animate: bool,
     label_vehicles: bool,
 ):
+    from smarts.waymo import waymo_utils
+
     waymo_utils.plot_scenario(tfrecord_file, scenario_id, animate, label_vehicles)
 
 
@@ -97,6 +99,8 @@ def export(
     scenario_id: str,
     export_folder: str,
 ):
+    from smarts.waymo import waymo_utils
+
     scenario_folder = os.path.join(export_folder, scenario_id)
     if not os.path.exists(scenario_folder):
         os.makedirs(scenario_folder)

cli/zoo.py

@@ -25,7 +25,6 @@
 from pathlib import Path
 
 import click
-from rich import print
 
 
 @click.group(name="zoo", help="Build, install, or instantiate workers.")

docs/conf.py

@@ -85,10 +85,12 @@
     "mdutils",
     "moviepy",
     "opendrive2lanelet",
+    "pandas",
     "pathos",
     "PIL",
     "pynput",
     "ray",
+    "rich",
     "tabulate",
     "tools",
     "torch",

envision/client.py

@@ -31,7 +31,14 @@
 from typing import Any, Optional, Union
 
 import numpy as np
-import websocket
+
+try:
+    import websocket
+except:
+    raise ImportError(
+        "Missing dependencies for Envision. Install them using the command `pip install -e .[envision]` at the source directory."
+    )
+
 
 from envision import types
 from envision.client_config import EnvisionStateFilter

envision/server.py

@@ -33,13 +33,18 @@
 from pathlib import Path
 from typing import Dict, List, Optional, Sequence, Union
 
-import ijson
-import tornado.gen
-import tornado.ioloop
-import tornado.iostream
-import tornado.web
-import tornado.websocket
-from tornado.websocket import WebSocketClosedError
+try:
+    import ijson
+    import tornado.gen
+    import tornado.ioloop
+    import tornado.iostream
+    import tornado.web
+    import tornado.websocket
+    from tornado.websocket import WebSocketClosedError
+except:
+    raise ImportError(
+        "Missing dependencies for Envision. Install them using the command `pip install -e .[envision]` at the source directory."
+    )
 
 import smarts.core.models
 from envision.web import dist as web_dist

setup.cfg

@@ -24,36 +24,28 @@ install_requires =
     #   50.0 is broken: https://github.com/pypa/setupatools/issues/2353
     setuptools>=41.0.0,!=50.0
     click>=7.1.2  # used in scl
-    eclipse-sumo>=1.12.0  # sumo
-    gym>=0.17.3,<=0.19.0
-    gymnasium==0.27.0
     # numpy>=1.19.5 required for tf 2.4
     # numpy<1.24 required for ray (see https://github.com/ray-project/ray/issues/31258)
-    numpy>=1.19.5,<1.24.0  
-    pandas>=1.3.4  # only used by zoo/evaluation
+    numpy>=1.19.5,<1.24.0
     psutil>=5.4.8
-    pybullet>=3,<4.0
-    rich>=11.2.0
-    Rtree>=0.9.7
-    sh>=1.14.2
     shapely>=2.0.0
     tableprint>=0.9.1
     trimesh==3.9.29  # Used for writing .glb files
+    PyYAML>=3.13
+    yattag>=1.14.0 # for Scenario Studio
+
+    # The following are planned to be made optional
+    eclipse-sumo>=1.12.0  # sumo
+    Rtree>=0.9.7 # technically optional, but used by sumo internally for performance (see `getNeighboringLanes()`)
+    gymnasium==0.27.0
+    pybullet>=3,<4.0
     visdom>=0.1.8.9
-    # The following are for Scenario Studio
-    yattag>=1.14.0
-    # The following is for both SS and Envision
+    protobuf>=3.17.3, <4.0.0 # for /smarts/zoo and remote agents
+
+    # The following are planned for removal
+    gym>=0.17.3,<=0.19.0
     cloudpickle>=1.3.0,<=2.1.0
-    # The following are for /envision
-    tornado>=5.1.1
-    websocket-client>=1.2.1
-    ijson>=3.1.4
-    # The following are for the /smarts/algorithms
-    matplotlib>=3.2.2
-    # The following are for /smarts/zoo and remote agents
-    protobuf>=3.17.3, <4.0.0
-    PyYAML>=3.13
-    twisted>=21.7.0
+    scipy
 
 [options.packages.find]
 exclude =
@@ -68,6 +60,8 @@ console_scripts =
 diagnostic = 
     py-cpuinfo==9.0.0
     mdutils==1.4.0
+    gym>=0.17.3,<=0.19.0
+    matplotlib>=3.2.2
 camera_obs = 
     Panda3D==1.10.9
     panda3d-gltf==0.13
@@ -85,6 +79,10 @@ doc =
     sphinxcontrib-apidoc>=0.3.0
     sphinx-click>=4.4.0
     sphinx-rtd-theme>=1.1.1
+envision =
+    tornado>=5.1.1
+    websocket-client>=1.2.1
+    ijson>=3.1.4
 extras = pynput>=1.7.4  # Used by HumanKeyboardAgent
 gym = 
     moviepy == 1.0.3
@@ -114,10 +112,16 @@ torch =
     torchvision==0.5.0
 train = 
     tensorflow>=2.4.0
-opendrive = 
-    opendrive2lanelet>=1.2.1
 argoverse = 
     av2>=0.2.1
+    Rtree>=0.9.7
+opendrive = 
+    opendrive2lanelet>=1.2.1
+    Rtree>=0.9.7
+waymo = 
+    matplotlib>=3.2.2
+    protobuf>=3.17.3, <4.0.0
+    Rtree>=0.9.7
 
 [aliases]
 test=pytest

smarts/core/argoverse_map.py

@@ -17,7 +17,6 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
-
 import heapq
 import logging
 import random
@@ -27,7 +26,6 @@
 from typing import Dict, List, Optional, Sequence, Set, Tuple
 
 import numpy as np
-import rtree
 from shapely.geometry import Point as SPoint
 from shapely.geometry import Polygon
 
@@ -45,13 +43,13 @@
 from smarts.sstudio.types import MapSpec
 
 try:
+    import rtree
     from av2.geometry.interpolate import interp_arc
     from av2.map.lane_segment import LaneMarkType, LaneSegment
     from av2.map.map_api import ArgoverseStaticMap
 except:
     raise ImportError(
         "You may not have installed the [argoverse] dependencies required for using Argoverse 2 maps with SMARTS. Install it first using the command `pip install -e .[argoverse]` at the source directory."
-        ""
     )
 
 

smarts/core/opendrive_road_network.py

@@ -31,14 +31,13 @@
 from typing import Dict, Generator, List, Optional, Sequence, Set, Tuple
 
 import numpy as np
-import rtree
 
 from smarts.core.utils.glb import make_map_glb, make_road_line_glb
 
 # pytype: disable=import-error
 
-
 try:
+    import rtree
     from lxml import etree
     from opendrive2lanelet.opendriveparser.elements.geometry import Line as LineGeometry
     from opendrive2lanelet.opendriveparser.elements.junction import (
@@ -68,7 +67,6 @@
 except ImportError:
     raise ImportError(
         "You may not have installed the [opendrive] dependencies required for using the OpenDRIVE maps with SMARTS. Install it first using the command `pip install -e .[opendrive]` at the source directory."
-        ""
     )
 # pytype: enable=import-error
 

smarts/core/sumo_road_network.py

@@ -795,7 +795,7 @@ def nearest_lanes(
             point[1],
             r=radius,
             includeJunctions=not include_junctions,
-            allowFallback=False,
+            allowFallback=False,  # makes this call fail if rtree is not installed
         )
         if not include_junctions:
             candidate_lanes = [

smarts/core/waymo_map.py

@@ -31,11 +31,23 @@
 from typing import Any, Dict, Generator, List, Optional, Sequence, Set, Tuple, Union
 
 import numpy as np
-import rtree
 from shapely.geometry import Point as SPoint
 from shapely.geometry import Polygon
 
+from smarts.core.coordinates import BoundingBox, Heading, Point, Pose, RefLinePoint
+from smarts.core.lanepoints import LanePoints, LinkedLanePoint
+from smarts.core.road_map import RoadMap, RoadMapWithCaches, Waypoint
+from smarts.core.route_cache import RouteWithCache
+from smarts.core.utils.file import read_tfrecord_file
+from smarts.core.utils.geometry import buffered_shape
 from smarts.core.utils.glb import make_map_glb, make_road_line_glb
+from smarts.core.utils.math import (
+    inplace_unwrap,
+    line_intersect_vectorized,
+    radians_to_vec,
+    ray_boundary_intersect,
+    vec_2d,
+)
 from smarts.sstudio.types import MapSpec
 from smarts.waymo.waymo_open_dataset.protos import scenario_pb2
 from smarts.waymo.waymo_open_dataset.protos.map_pb2 import (
@@ -47,19 +59,12 @@
 )
 from smarts.waymo.waymo_utils import WaymoDatasetError
 
-from .coordinates import BoundingBox, Heading, Point, Pose, RefLinePoint
-from .lanepoints import LanePoints, LinkedLanePoint
-from .road_map import RoadMap, RoadMapWithCaches, Waypoint
-from .route_cache import RouteWithCache
-from .utils.file import read_tfrecord_file
-from .utils.geometry import buffered_shape
-from .utils.math import (
-    inplace_unwrap,
-    line_intersect_vectorized,
-    radians_to_vec,
-    ray_boundary_intersect,
-    vec_2d,
-)
+try:
+    import rtree
+except:
+    raise ImportError(
+        "You may not have installed the [argoverse] dependencies required for using Argoverse 2 maps with SMARTS. Install it first using the command `pip install -e .[argoverse]` at the source directory."
+    )
 
 
 class WaymoMap(RoadMapWithCaches):