import os
assert "DEEPNOTE_PROJECT_ID" in os.environ, "This tutorial is meant to be run on Deepnote"
Drake's MathematicalProgram interface supports some commercial solvers that require users to provide a license file in order to activate them. This tutorial provides an example of how this can be accomplished on Deepnote; attempting to simplify the workflow but also minimize the chances of you accidentally sharing your license file.
You can duplicate this notebook, and upload your license file, and run the code to make sure the activation works.
mosek.lic file from your local machine.Please be careful to avoid publicly sharing your license file!
We upload the file to /tmp/mosek.lic in order to help prevent accidental sharing of your license file. It will be cleared at the end of each session.
Note: If you share an active session with a collaborator with your license uploaded, they could potentially copy the file out of /tmp and obtain your license.
import os
import os.path
import ipywidgets as widgets # Our use requires ipywidgets >= 7.5.0
from IPython.display import display
if "MOSEKLM_LICENSE_FILE" not in os.environ:
# If a mosek.lic file has already been uploaded, then simply use it here.
if os.path.exists('/tmp/mosek.lic'):
os.environ["MOSEKLM_LICENSE_FILE"] = "/tmp/mosek.lic"
else:
uploader = widgets.FileUpload(accept='.lic', multiple=False)
display(uploader)
if "MOSEKLM_LICENSE_FILE" not in os.environ:
assert len(uploader.value.values()) > 0, "Please upload a license file using the Upload widget above."
with open('/tmp/mosek.lic', 'wb') as output_file:
output_file.write(list(uploader.value.values())[-1]['content'])
os.environ["MOSEKLM_LICENSE_FILE"] = "/tmp/mosek.lic"
We can confirm that Drake believes Mosek should now be available:
from pydrake.solvers import MosekSolver
print(MosekSolver().enabled())
Now let's solve a trivial semidefinite program.
$$\begin{aligned} \min_S \quad & \text{Trace}(S) \\ \text{subject to} \quad & S_{1,0} = 1, \\ & S \succeq 0. \end{aligned}$$The known optimal solution is $ S = \begin{bmatrix} 1 & 1 \\ 1 & 1\end{bmatrix}.$
from pydrake.solvers import MathematicalProgram, MosekSolver
prog = MathematicalProgram()
S = prog.NewSymmetricContinuousVariables(2, "S")
# S ≽ 0.
prog.AddPositiveSemidefiniteConstraint(S)
# S(1, 0) = 1
prog.AddBoundingBoxConstraint(1, 1, S[1, 0])
# min Trace(S)
prog.AddLinearCost(S[0,0] + S[1,1])
mosek = MosekSolver()
result = mosek.Solve(prog)
assert result.is_success()
print(result.GetSolution(S))
Gurobi is not yet available in the binary releases of Drake. We hope to enable it in the future: https://github.com/RobotLocomotion/drake/issues/10804
For good measure, let's delete any temporary license files now.
if os.path.exists('/tmp/mosek.lic'):
os.remove('/tmp/mosek.lic')