Merge pull request RobotLocomotion#2 from RobotLocomotion/purge_gurobi

Purge Gurobi.
hanlanqian · Oct 15, 2023 · df11235 · df11235
2 parents dc9ea92 + b431548
commit df11235
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Showing 5 changed files with 4 additions and 29 deletions.
diff --git a/examples/uav_planning.ipynb b/examples/uav_planning.ipynb
@@ -25,7 +25,7 @@
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
     "from pydrake.multibody.parsing import Parser\n",
     "from pydrake.perception import PointCloud\n",
-    "from pydrake.solvers import GurobiSolver,  MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "from pydrake.systems.analysis import Simulator\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",
@@ -34,7 +34,6 @@
     "from reproduction.uav.building_generation import *\n",
     "from reproduction.util import *\n",
     "\n",
-    "gurobi_license = GurobiSolver.AcquireLicense()\n",
     "mosek_license = MosekSolver.AcquireLicense()"
    ]
   },

diff --git a/gcs/base.py b/gcs/base.py
@@ -8,7 +8,6 @@
 )
 from pydrake.solvers import (
     CommonSolverOption,
-    GurobiSolver,
     MathematicalProgram,
     MosekSolver,
     SolverOptions,
@@ -155,8 +154,6 @@ def setPaperSolverOptions(self):
         solver_options.SetOption(MosekSolver.id(), "MSK_IPAR_INTPNT_SOLVE_FORM", 1)
         solver_options.SetOption(MosekSolver.id(), "MSK_DPAR_MIO_TOL_REL_GAP", 1e-3)
         solver_options.SetOption(MosekSolver.id(), "MSK_DPAR_MIO_MAX_TIME", 3600.0)
-        solver_options.SetOption(GurobiSolver.id(), "MIPGap", 1e-3)
-        solver_options.SetOption(GurobiSolver.id(), "TimeLimit", 3600.0)
         self.options.solver_options = solver_options
 
     def setRoundingStrategy(self, rounding_fn, **kwargs):

diff --git a/reproduction/bimanual/bimanual_iiwa_example.ipynb b/reproduction/bimanual/bimanual_iiwa_example.ipynb
@@ -26,14 +26,13 @@
     "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 import GurobiSolver, MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",
     "from gcs.linear import LinearGCS\n",
     "from reproduction.bimanual.helpers import *\n",
     "from reproduction.util import *\n",
     "\n",
-    "gurobi_license = GurobiSolver.AcquireLicense()\n",
     "mosek_license = MosekSolver.AcquireLicense()"
    ]
   },

diff --git a/reproduction/prm_comparison/prm_comparison.ipynb b/reproduction/prm_comparison/prm_comparison.ipynb
@@ -20,7 +20,7 @@
     "from pydrake.geometry.optimization import IrisInConfigurationSpace, IrisOptions\n",
     "from pydrake.multibody.parsing import LoadModelDirectives, Parser, ProcessModelDirectives\n",
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
-    "from pydrake.solvers import GurobiSolver, MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",
     "from gcs.linear import LinearGCS\n",
@@ -43,7 +43,6 @@
     "\n",
     "from reproduction.util import GcsDir, FindModelFile\n",
     "\n",
-    "gurobi_license = GurobiSolver.AcquireLicense()\n",
     "mosek_license = MosekSolver.AcquireLicense()"
    ]
   },

diff --git a/reproduction/uav/uav_generated_rooms.ipynb b/reproduction/uav/uav_generated_rooms.ipynb
@@ -25,14 +25,13 @@
     "from pydrake.multibody.plant import AddMultibodyPlantSceneGraph\n",
     "from pydrake.multibody.parsing import Parser\n",
     "from pydrake.perception import PointCloud\n",
-    "from pydrake.solvers import GurobiSolver, MosekSolver\n",
+    "from pydrake.solvers import MosekSolver\n",
     "from pydrake.systems.analysis import Simulator\n",
     "from pydrake.systems.framework import DiagramBuilder\n",
     "\n",
     "from reproduction.uav.helpers import *\n",
     "from reproduction.util import *\n",
     "\n",
-    "gurobi_license = GurobiSolver.AcquireLicense()\n",
     "mosek_license = MosekSolver.AcquireLicense()"
    ]
   },
@@ -102,24 +101,6 @@
     "print(\"Solved\", runs, \"buildings in\", np.round((time.time()-start_time)/60., 4), \"minutes.\")"
    ]
   },
-  {
-   "cell_type": "markdown",
-   "metadata": {},
-   "source": [
-    "## Using MICP and Gurobi"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "start_time = time.time()\n",
-    "plan_through_buildings(save_location, runs, solve_gcs=False, solver=GurobiSolver(), file_addendum=\"gurobi\")\n",
-    "print(\"Solved\", runs, \"buildings in\", np.round((time.time()-start_time)/60., 4), \"minutes.\")"
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},