Merge pull request #44 from mpetersen94/deprecated_solvers

Change pydrake imports due to deprecation
hanlanqian · Mar 7, 2023 · b3f92de · b3f92de
2 parents 60b2074 + 440c4bf
commit b3f92de
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Showing 13 changed files with 19 additions and 23 deletions.
diff --git a/examples/simple_2D_planning.ipynb b/examples/simple_2D_planning.ipynb
@@ -13,7 +13,7 @@
     "import matplotlib.pyplot as plt\n",
     "\n",
     "from pydrake.geometry.optimization import HPolyhedron\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "from pydrake.trajectories import PiecewisePolynomial\n",
     "\n",
     "from gcs.bezier import BezierGCS\n",

diff --git a/examples/uav_planning.ipynb b/examples/uav_planning.ipynb
@@ -19,14 +19,13 @@
     "from scipy.spatial import ConvexHull\n",
     "from IPython.display import SVG\n",
     "\n",
-    "from pydrake.examples.quadrotor import QuadrotorGeometry\n",
+    "from pydrake.examples import QuadrotorGeometry\n",
     "from pydrake.geometry import MeshcatVisualizer, Rgba, StartMeshcat\n",
     "from pydrake.geometry.optimization import HPolyhedron, VPolytope\n",
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
     "from pydrake.multibody.parsing import Parser\n",
     "from pydrake.perception import PointCloud\n",
-    "from pydrake.solvers.gurobi import GurobiSolver\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import GurobiSolver,  MosekSolver\n",
     "from pydrake.systems.analysis import Simulator\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",

diff --git a/gcs/base.py b/gcs/base.py
@@ -6,13 +6,14 @@
     GraphOfConvexSetsOptions,
     Point,
 )
-from pydrake.solvers.mathematicalprogram import (
+from pydrake.solvers import (
     CommonSolverOption,
+    GurobiSolver,
+    MathematicalProgram,
+    MosekSolver,
     SolverOptions,
 )
-from pydrake.solvers.gurobi import GurobiSolver
-from pydrake.solvers.mosek import MosekSolver
-from pydrake.all import MathematicalProgram, le
+from pydrake.all import le
 
 from gcs.rounding import MipPathExtraction
 

diff --git a/gcs/bezier.py b/gcs/bezier.py
@@ -12,7 +12,7 @@
     BsplineBasis_,
     KnotVectorType,
 )
-from pydrake.solvers.mathematicalprogram import(
+from pydrake.solvers import(
     Binding,
     Constraint,
     Cost,

diff --git a/gcs/linear.py b/gcs/linear.py
@@ -5,7 +5,7 @@
 from pydrake.geometry.optimization import (
     Point,
 )
-from pydrake.solvers.mathematicalprogram import (
+from pydrake.solvers import (
     Binding,
     Constraint,
     Cost,

diff --git a/reproduction/bimanual/bimanual_iiwa_example.ipynb b/reproduction/bimanual/bimanual_iiwa_example.ipynb
@@ -26,8 +26,7 @@
     "from pydrake.multibody.parsing import LoadModelDirectives, Parser, ProcessModelDirectives\n",
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
     "from pydrake.multibody.tree import RevoluteJoint\n",
-    "from pydrake.solvers.gurobi import GurobiSolver\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import GurobiSolver, MosekSolver\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",
     "from gcs.linear import LinearGCS\n",

diff --git a/reproduction/bimanual/helpers.py b/reproduction/bimanual/helpers.py
@@ -17,8 +17,7 @@
 from pydrake.multibody.parsing import LoadModelDirectives, Parser, ProcessModelDirectives
 from pydrake.multibody.plant import AddMultibodyPlantSceneGraph, MultibodyPlant
 from pydrake.perception import PointCloud
-from pydrake.solvers.mathematicalprogram import Solve
-from pydrake.solvers.mosek import MosekSolver
+from pydrake.solvers import MosekSolver, Solve
 from pydrake.systems.analysis import Simulator
 from pydrake.systems.framework import DiagramBuilder, LeafSystem
 from pydrake.systems.primitives import TrajectorySource

diff --git a/reproduction/maze_example.ipynb b/reproduction/maze_example.ipynb
@@ -15,7 +15,7 @@
     "from random import choice, randint, seed\n",
     "\n",
     "from pydrake.geometry.optimization import HPolyhedron\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "\n",
     "from gcs.bezier import BezierGCS\n",
     "from gcs.linear import LinearGCS\n",

diff --git a/reproduction/min_length_vs_min_time.ipynb b/reproduction/min_length_vs_min_time.ipynb
@@ -14,7 +14,7 @@
     "from scipy.spatial import ConvexHull\n",
     "\n",
     "from pydrake.geometry.optimization import HPolyhedron\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "\n",
     "from gcs.bezier import BezierGCS\n",
     "from gcs.linear import LinearGCS\n",

diff --git a/reproduction/prm_comparison/helpers.py b/reproduction/prm_comparison/helpers.py
@@ -23,7 +23,7 @@
 from pydrake.trajectories import PiecewisePolynomial
 from pydrake.systems.analysis import Simulator
 from pydrake.multibody import inverse_kinematics
-from pydrake.solvers.mathematicalprogram import Solve
+from pydrake.solvers import Solve
 
 from reproduction.util import *
 

diff --git a/reproduction/prm_comparison/prm_comparison.ipynb b/reproduction/prm_comparison/prm_comparison.ipynb
@@ -21,8 +21,7 @@
     "from pydrake.multibody.parsing import LoadModelDirectives, Parser, ProcessModelDirectives\n",
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
     "from pydrake.planning.common_robotics_utilities import SimpleRRTPlannerState\n",
-    "from pydrake.solvers.gurobi import GurobiSolver\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import GurobiSolver, MosekSolver\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",
     "from gcs.linear import LinearGCS\n",

diff --git a/reproduction/uav/helpers.py b/reproduction/uav/helpers.py
@@ -4,7 +4,7 @@
 import time
 
 from pydrake.systems.framework import LeafSystem
-from pydrake.solvers.mosek import MosekSolver
+from pydrake.solvers import MosekSolver
 
 from gcs.bezier import BezierGCS
 from gcs.rounding import *

diff --git a/reproduction/uav/uav_generated_rooms.ipynb b/reproduction/uav/uav_generated_rooms.ipynb
@@ -19,14 +19,13 @@
     "from scipy.spatial import ConvexHull\n",
     "from IPython.display import SVG\n",
     "\n",
-    "from pydrake.examples.quadrotor import QuadrotorGeometry\n",
+    "from pydrake.examples import QuadrotorGeometry\n",
     "from pydrake.geometry import MeshcatVisualizerCpp, Rgba, StartMeshcat\n",
     "from pydrake.geometry.optimization import HPolyhedron, VPolytope\n",
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
     "from pydrake.multibody.parsing import Parser\n",
     "from pydrake.perception import PointCloud\n",
-    "from pydrake.solvers.gurobi import GurobiSolver\n",
-    "from pydrake.solvers.mosek import MosekSolver\n",
+    "from pydrake.solvers import GurobiSolver, MosekSolver\n",
     "from pydrake.systems.analysis import Simulator\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",