Remove deprecated code 2023-07 (#19714)

bindings/pydrake/geometry/geometry_py_render.cc

@@ -348,9 +348,7 @@ void DoScalarIndependentDefinitions(py::module m) {
       doc_geometry.MakeRenderEngineVtk.doc);
 
   {
-    // TODO(zachfang): During the 2023-07-01 deprecation removals also
-    // remove the spurious `geometry::` qualifier on this typename.
-    using Class = geometry::RenderEngineGlParams;
+    using Class = RenderEngineGlParams;
     constexpr auto& cls_doc = doc_geometry.RenderEngineGlParams;
     py::class_<Class> cls(m, "RenderEngineGlParams", cls_doc.doc);
     cls  // BR
@@ -360,10 +358,8 @@ void DoScalarIndependentDefinitions(py::module m) {
     DefCopyAndDeepCopy(&cls);
   }
 
-  // TODO(zachfang): During the 2023-07-01 deprecation removals also
-  // remove the spurious `geometry::` qualifier on this typename.
-  m.def("MakeRenderEngineGl", &geometry::MakeRenderEngineGl,
-      py::arg("params") = geometry::RenderEngineGlParams(),
+  m.def("MakeRenderEngineGl", &MakeRenderEngineGl,
+      py::arg("params") = RenderEngineGlParams(),
       doc_geometry.MakeRenderEngineGl.doc);
 
   {

bindings/pydrake/multibody/BUILD.bazel

@@ -157,7 +157,6 @@ drake_pybind_library(
     name = "parsing_py",
     cc_deps = [
         "//bindings/pydrake:documentation_pybind",
-        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:serialize_pybind",
     ],
     cc_srcs = ["parsing_py.cc"],

bindings/pydrake/multibody/parsing_py.cc

@@ -1,4 +1,3 @@
-#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/pydrake_pybind.h"
@@ -254,15 +253,6 @@ PYBIND11_MODULE(parsing, m) {
       py::return_value_policy::reference,
       py::keep_alive<0, 1>(),  // `return` keeps `plant` alive.
       doc.parsing.GetScopedFrameByName.doc);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  m.def("GetScopedFrameName",
-      WrapDeprecated(doc.parsing.GetScopedFrameName.doc_deprecated,
-          &parsing::GetScopedFrameName),
-      py::arg("plant"), py::arg("frame"),
-      doc.parsing.GetScopedFrameName.doc_deprecated);
-#pragma GCC diagnostic push
 }
 
 }  // namespace pydrake

bindings/pydrake/multibody/test/parsing_test.py

@@ -8,7 +8,6 @@
     AddModelInstance,
     AddWeld,
     GetScopedFrameByName,
-    GetScopedFrameName,
     LoadModelDirectives,
     LoadModelDirectivesFromString,
     ModelDirective,
@@ -25,7 +24,6 @@
 import unittest
 
 from pydrake.common import FindResourceOrThrow
-from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.geometry import SceneGraph
 from pydrake.multibody.tree import (
     ModelInstanceIndex,
@@ -227,9 +225,7 @@ def test_model_instance_info(self):
 
     def test_scoped_frame_names(self):
         plant = MultibodyPlant(time_step=0.01)
-        frame = GetScopedFrameByName(plant, "world")
-        with catch_drake_warnings(expected_count=1):
-            self.assertIsNotNone(GetScopedFrameName(plant, frame))
+        GetScopedFrameByName(plant, "world")
 
     def _make_plant_parser_directives(self):
         """Returns a tuple (plant, parser, directives) for later testing."""

bindings/pydrake/planning/planning_py_collision_checker.cc

@@ -1,4 +1,3 @@
-#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/common/wrap_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/planning/planning_py.h"
@@ -250,25 +249,6 @@ void DefinePlanningCollisionChecker(py::module m) {
         .def("SupportsParallelChecking", &Class::SupportsParallelChecking,
             cls_doc.SupportsParallelChecking.doc);
     DefClone(&cls);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    cls  // BR
-        .def("GetScopedName",
-            WrapDeprecated(
-                cls_doc.GetScopedName.doc_deprecated_deprecated_1args_frame,
-                overload_cast_explicit<std::string, const Frame<double>&>(
-                    &Class::GetScopedName)),
-            py::arg("frame"),
-            cls_doc.GetScopedName.doc_deprecated_deprecated_1args_frame)
-        .def("GetScopedName",
-            WrapDeprecated(
-                cls_doc.GetScopedName.doc_deprecated_deprecated_1args_body,
-                overload_cast_explicit<std::string, const Body<double>&>(
-                    &Class::GetScopedName)),
-            py::arg("body"),
-            cls_doc.GetScopedName.doc_deprecated_deprecated_1args_body);
-#pragma GCC diagnostic pop
   }
 
   {

bindings/pydrake/planning/test/collision_checker_test.py

@@ -7,7 +7,6 @@
 import numpy as np
 
 from pydrake.common.test_utilities import numpy_compare
-from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.geometry import Sphere
 from pydrake.math import RigidTransform
 from pydrake.multibody.plant import MultibodyPlant
@@ -243,10 +242,6 @@ def _test_collision_checker_base_class(self, dut):
         self.assertEqual(len(dut.robot_model_instances()), 1)
         self.assertTrue(dut.IsPartOfRobot(body=body))
         self.assertTrue(dut.IsPartOfRobot(body_index=body.index()))
-        with catch_drake_warnings(expected_count=1):
-            self.assertEqual(dut.GetScopedName(frame=frame), "box::box")
-        with catch_drake_warnings(expected_count=1):
-            self.assertEqual(dut.GetScopedName(body=body), "box::box")
 
         self.assertGreater(len(dut.GetZeroConfiguration()), 0)
         self.assertGreater(dut.num_allocated_contexts(), 0)

bindings/pydrake/visualization/BUILD.bazel

@@ -168,7 +168,6 @@ drake_py_unittest(
     ],
     deps = [
         ":model_visualizer",
-        "//bindings/pydrake/common/test_utilities:deprecation_py",
     ],
 )
 

bindings/pydrake/visualization/_model_visualizer.py

@@ -8,7 +8,6 @@
 
 import numpy as np
 
-from pydrake.common.deprecation import deprecated
 from pydrake.geometry import (
     Box,
     Cylinder,
@@ -39,14 +38,6 @@
 )
 
 
-class RunResult(Enum):
-    """This class is deprecated and will be removed on or after 2023-07-01."""
-    KEEP_GOING = 0  # Note that this is never returned but is used internally.
-    LOOP_ONCE = 1
-    STOPPED = 2
-    RELOAD = 3
-
-
 class ModelVisualizer:
     """
     Visualizes models from a file or string buffer in Drake Visualizer,
@@ -544,15 +535,6 @@ def has_clicks(button_name):
             self._meshcat.DeleteButton(self._reload_button_name)
             self._reload_button_name = None
 
-        return RunResult.STOPPED
-
-    @deprecated("Use Run() instead.", date="2023-07-01")
-    def RunWithReload(self, *args, **kwargs):
-        """
-        (Deprecated.) The reload feature is enabled by default during Run().
-        """
-        return self.Run(*args, **kwargs)
-
     def _raise_if_invalid_positions(self, position):
         """
         Validate the position argument.

bindings/pydrake/visualization/meldis.py

@@ -29,7 +29,6 @@
 import webbrowser
 
 from pydrake.common import configure_logging as _configure_logging
-from pydrake.common.deprecation import _warn_deprecated
 from pydrake.visualization._meldis import Meldis as _Meldis
 
 

bindings/pydrake/visualization/test/model_visualizer_test.py

@@ -5,7 +5,6 @@
 import unittest
 
 from pydrake.common import FindResourceOrThrow
-from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.geometry import Meshcat
 import pydrake.visualization as mut
 import pydrake.visualization._model_visualizer as mut_private
@@ -281,12 +280,6 @@ def test_webbrowser(self):
         self.assertIn("localhost", kwargs["url"])
         self.assertEqual(len(kwargs), 2)
 
-    def test_deprecated_run_with_reload(self):
-        dut = mut.ModelVisualizer()
-        dut.parser().AddModelsFromString(self.SAMPLE_OBJ, "sdf")
-        with catch_drake_warnings(expected_count=1):
-            dut.RunWithReload(loop_once=True)
-
     def test_triad_defaults(self):
         # Cross-check the default triad parameters.
         expected = inspect.signature(mut.AddFrameTriadIllustration).parameters

geometry/render_gl/BUILD.bazel

@@ -245,21 +245,6 @@ drake_cc_googletest(
     ],
 )
 
-# TODO(zachfang): Remove this along with deprecation on 2023-07-01.
-drake_cc_googletest(
-    name = "deprecation_test",
-    copts = [
-        "-Wno-cpp",
-        "-Wno-deprecated-declarations",
-    ],
-    tags = vtk_test_tags(),
-    deps = [
-        ":factory",
-        ":render_engine_gl_params",
-        "//common/test_utilities:expect_throws_message",
-    ],
-)
-
 drake_cc_googletest_ubuntu_only(
     name = "internal_shape_meshes_test",
     data = [

geometry/render_gl/factory.cc

@@ -17,10 +17,5 @@ std::unique_ptr<render::RenderEngine> MakeRenderEngineGl(
       std::move(params));
 }
 
-namespace render {
-  DRAKE_DEPRECATED("2023-07-01", "Use the geometry namespace instead.")
-  const bool kHasRenderEngineGl = true;
-}  // namespace render
-
 }  // namespace geometry
 }  // namespace drake

geometry/render_gl/factory.h

@@ -2,7 +2,6 @@
 
 #include <memory>
 
-#include "drake/common/drake_deprecated.h"
 #include "drake/geometry/render/render_engine.h"
 #include "drake/geometry/render_gl/render_engine_gl_params.h"
 
@@ -47,15 +46,5 @@ extern const bool kHasRenderEngineGl;
 std::unique_ptr<render::RenderEngine> MakeRenderEngineGl(
     RenderEngineGlParams params = {});
 
-namespace render {
-
-DRAKE_DEPRECATED("2023-07-01", "Use the geometry namespace instead.")
-extern const bool kHasRenderEngineGl;
-
-DRAKE_DEPRECATED("2023-07-01", "Use the geometry namespace instead.")
-constexpr auto MakeRenderEngineGl = &geometry::MakeRenderEngineGl;
-
-}  // namespace render
-
 }  // namespace geometry
 }  // namespace drake

geometry/render_gl/no_factory.cc

@@ -14,10 +14,5 @@ std::unique_ptr<render::RenderEngine> MakeRenderEngineGl(RenderEngineGlParams) {
       "engine.");
 }
 
-namespace render {
-  DRAKE_DEPRECATED("2023-07-01", "Use the geometry namespace instead.")
-  const bool kHasRenderEngineGl = false;
-}  // namespace render
-
 }  // namespace geometry
 }  // namespace drake

geometry/render_gl/render_engine_gl_params.h

@@ -1,6 +1,5 @@
 #pragma once
 
-#include "drake/common/drake_deprecated.h"
 #include "drake/common/name_value.h"
 #include "drake/geometry/render/render_label.h"
 #include "drake/geometry/rgba.h"
@@ -31,13 +30,5 @@ struct RenderEngineGlParams {
   Rgba default_clear_color{204 / 255., 229 / 255., 255 / 255., 1.0};
 };
 
-namespace render {
-
-using RenderEngineGlParams
-    DRAKE_DEPRECATED("2023-07-01", "Use the geometry namespace instead.")
-    = geometry::RenderEngineGlParams;
-
-}  // namespace render
-
 }  // namespace geometry
 }  // namespace drake

manipulation/util/make_arm_controller_model.cc

@@ -20,7 +20,6 @@ using multibody::MultibodyPlant;
 using multibody::Parser;
 using multibody::RigidBody;
 using multibody::SpatialInertia;
-using multibody::parsing::GetScopedFrameName;
 using multibody::parsing::ModelInstanceInfo;
 using systems::Context;
 

multibody/parsing/scoped_names.cc

@@ -6,11 +6,6 @@ namespace drake {
 namespace multibody {
 namespace parsing {
 
-namespace {
-// TODO(jwnimmer-tri) Remove me 2023-07-01 as part of deprecation.
-constexpr char kScopedNameDelim[] = "::";
-}  // namespace
-
 const drake::multibody::Frame<double>*
 GetScopedFrameByNameMaybe(
     const drake::multibody::MultibodyPlant<double>& plant,
@@ -45,55 +40,6 @@ const drake::multibody::Frame<double>& GetScopedFrameByName(
   }
 }
 
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#pragma GCC diagnostic push
-// Remove 2023-07-01 with deprecation.
-std::string GetScopedFrameName(
-    const drake::multibody::MultibodyPlant<double>& plant,
-    const drake::multibody::Frame<double>& frame) {
-  if (&frame == &plant.world_frame())
-    return "world";
-  return PrefixName(GetInstanceScopeName(
-      plant, frame.model_instance()), frame.name());
-}
-#pragma GCC diagnostic pop
-
-// Remove 2023-07-01 with deprecation.
-ScopedNameIsDeprecated ParseScopedName(const std::string& full_name) {
-  size_t pos = full_name.rfind(kScopedNameDelim);
-  ScopedNameIsDeprecated result;
-  if (pos == std::string::npos) {
-    result.name = full_name;
-  } else {
-    result.instance_name = full_name.substr(0, pos);
-    // "Global scope" (e.g. "::my_frame") not supported.
-    DRAKE_DEMAND(!result.instance_name.empty());
-    result.name = full_name.substr(pos + std::string(kScopedNameDelim).size());
-  }
-  return result;
-}
-
-// Remove 2023-07-01 with deprecation.
-std::string PrefixName(const std::string& namespace_, const std::string& name) {
-  if (namespace_.empty())
-    return name;
-  else if (name.empty())
-    return namespace_;
-  else
-    return namespace_ + kScopedNameDelim + name;
-}
-
-// Remove 2023-07-01 with deprecation.
-std::string GetInstanceScopeName(
-    const MultibodyPlant<double>& plant,
-    ModelInstanceIndex instance) {
-  if (instance != plant.world_body().model_instance()) {
-    return plant.GetModelInstanceName(instance);
-  } else {
-    return "";
-  }
-}
-
 }  // namespace parsing
 }  // namespace multibody
 }  // namespace drake