Remove deprecated code 2023-05 (#19307)

bindings/pydrake/BUILD.bazel

@@ -563,17 +563,10 @@ PYI_FILES = [
     "pydrake/common/yaml.pyi",
     "pydrake/examples/__init__.pyi",
     "pydrake/examples/_examples_extra.pyi",
-    "pydrake/examples/acrobot.pyi",
-    "pydrake/examples/compass_gait.pyi",
-    "pydrake/examples/manipulation_station.pyi",
     "pydrake/examples/multibody/__init__.pyi",
     "pydrake/examples/multibody/cart_pole_passive_simulation.pyi",
     "pydrake/examples/multibody/pendulum_lqr_monte_carlo_analysis.pyi",
     "pydrake/examples/multibody/run_planar_scenegraph_visualizer.pyi",
-    "pydrake/examples/pendulum.pyi",
-    "pydrake/examples/quadrotor.pyi",
-    "pydrake/examples/rimless_wheel.pyi",
-    "pydrake/examples/van_der_pol.pyi",
     "pydrake/forwarddiff.pyi",
     "pydrake/geometry/__init__.pyi",
     "pydrake/lcm.pyi",

bindings/pydrake/examples/BUILD.bazel

@@ -44,13 +44,6 @@ drake_pybind_library(
     ],
     py_srcs = [
         "_examples_extra.py",
-        "acrobot.py",
-        "compass_gait.py",
-        "manipulation_station.py",
-        "pendulum.py",
-        "quadrotor.py",
-        "rimless_wheel.py",
-        "van_der_pol.py",
     ],
 )
 

bindings/pydrake/geometry/geometry_py_common.cc

@@ -12,7 +12,6 @@
 #include "drake/bindings/pydrake/common/serialize_pybind.h"
 #include "drake/bindings/pydrake/common/value_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/geometry/collision_filter_declaration.h"
 #include "drake/geometry/collision_filter_manager.h"
 #include "drake/geometry/geometry_frame.h"
@@ -434,15 +433,6 @@ void DoScalarIndependentDefinitions(py::module m) {
               return Convex(info.first, info.second);
             }));
 
-    constexpr char doc_ConvexInitWithArgumentNameAbsoluteFilename[] =
-        "Convex(absolute_filename=...) is deprecated, and will be removed on "
-        "or around 2023-05-01.  Please use Convex(filename=...) instead.";
-
-    convex_cls.def(py_init_deprecated<Convex, std::string, double>(
-                       doc_ConvexInitWithArgumentNameAbsoluteFilename),
-        py::arg("absolute_filename"), py::arg("scale") = 1.0,
-        doc_ConvexInitWithArgumentNameAbsoluteFilename);
-
     py::class_<Cylinder, Shape>(m, "Cylinder", doc.Cylinder.doc)
         .def(py::init<double, double>(), py::arg("radius"), py::arg("length"),
             doc.Cylinder.ctor.doc_2args)
@@ -494,15 +484,6 @@ void DoScalarIndependentDefinitions(py::module m) {
               return Mesh(info.first, info.second);
             }));
 
-    constexpr char doc_MeshInitWithArgumentNameAbsoluteFilename[] =
-        "Mesh(absolute_filename=...) is deprecated, and will be removed on "
-        "or around 2023-05-01.  Please use Mesh(filename=...) instead.";
-
-    mesh_cls.def(py_init_deprecated<Mesh, std::string, double>(
-                     doc_MeshInitWithArgumentNameAbsoluteFilename),
-        py::arg("absolute_filename"), py::arg("scale") = 1.0,
-        doc_MeshInitWithArgumentNameAbsoluteFilename);
-
     py::class_<Sphere, Shape>(m, "Sphere", doc.Sphere.doc)
         .def(py::init<double>(), py::arg("radius"), doc.Sphere.ctor.doc)
         .def("radius", &Sphere::radius, doc.Sphere.radius.doc)

bindings/pydrake/geometry/test/common_test.py

@@ -393,9 +393,6 @@ def test_shape_constructors(self):
             shape_copy = shape.Clone()
             self.assertIsInstance(shape_copy, shape_cls)
             self.assertIsNot(shape, shape_copy)
-        with catch_drake_warnings(expected_count=2):
-            mut.Mesh(absolute_filename="arbitrary/path", scale=1.0),
-            mut.Convex(absolute_filename="arbitrary/path", scale=1.0),
 
     def test_shapes(self):
         # We'll test some invariants on all shapes as inherited from the Shape

bindings/pydrake/solvers/BUILD.bazel

@@ -78,21 +78,6 @@ drake_pybind_library(
     ],
     py_srcs = [
         "_extra.py",
-        "augmented_lagrangian.py",
-        "branch_and_bound.py",
-        "clp.py",
-        "csdp.py",
-        "gurobi.py",
-        "ipopt.py",
-        "mathematicalprogram.py",
-        "mixed_integer_optimization_util.py",
-        "mixed_integer_rotation_constraint.py",
-        "mosek.py",
-        "nlopt.py",
-        "osqp.py",
-        "scs.py",
-        "sdpa_free_format.py",
-        "snopt.py",
     ],
 )