diff --git a/omnigibson/simulator.py b/omnigibson/simulator.py
index c45440844..904e46939 100644
--- a/omnigibson/simulator.py
+++ b/omnigibson/simulator.py
@@ -98,13 +98,17 @@ def _launch_app():
         import sys
         import warnings
 
-        from numba.core.errors import NumbaPerformanceWarning
+        try:
+            from numba.core.errors import NumbaPerformanceWarning
+
+            warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
+        except ImportError:
+            pass
 
         # TODO: Find a more elegant way to prune omni logging
         # sys.argv.append("--/log/level=warning")
         # sys.argv.append("--/log/fileLogLevel=warning")
         # sys.argv.append("--/log/outputStreamLevel=error")
-        warnings.simplefilter("ignore", category=NumbaPerformanceWarning)
 
     # Try to import the isaacsim module that only shows up in Isaac Sim 4.0.0. This ensures that
     # if we are using the pip installed version, all the ISAAC_PATH etc. env vars are set correctly.
diff --git a/setup.py b/setup.py
index 1df6e7b1a..58e4801b7 100644
--- a/setup.py
+++ b/setup.py
@@ -46,7 +46,6 @@ setup(
         "aenum~=3.1.15",
         "rtree~=1.2.0",
         "graphviz~=0.20",
-        "numba>=0.60.0",
         "matplotlib>=3.0.0",
     ],
     extras_require={},