Remove deprecated code 2025-01 (RobotLocomotion#22368)

bindings/pydrake/systems/BUILD.bazel

@@ -170,7 +170,6 @@ drake_pybind_library(
         "//bindings/pydrake:documentation_pybind",
         "//bindings/pydrake/common:cpp_template_pybind",
         "//bindings/pydrake/common:default_scalars_pybind",
-        "//bindings/pydrake/common:deprecation_pybind",
         "//bindings/pydrake/common:eigen_pybind",
         "//bindings/pydrake/common:serialize_pybind",
         "//bindings/pydrake/common:type_pack",

bindings/pydrake/systems/sensors_py_rgbd.cc

@@ -1,4 +1,3 @@
-#include "drake/bindings/pydrake/common/deprecation_pybind.h"
 #include "drake/bindings/pydrake/documentation_pybind.h"
 #include "drake/bindings/pydrake/systems/sensors_py.h"
 #include "drake/systems/sensors/camera_info.h"
@@ -136,33 +135,6 @@ void DefineSensorsRgbd(py::module m) {
       .def("SetParentFrameId", &RgbdSensor::SetParentFrameId,
           py::arg("context"), py::arg("id"),
           doc.RgbdSensor.SetParentFrameId.doc);
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  rgbd_sensor
-      .def("parent_frame_id",
-          WrapDeprecated(doc.RgbdSensor.parent_frame_id.doc_deprecated,
-              &RgbdSensor::parent_frame_id),
-          doc.RgbdSensor.parent_frame_id.doc_deprecated)
-      .def("X_PB",
-          WrapDeprecated(doc.RgbdSensor.X_PB.doc_deprecated, &RgbdSensor::X_PB),
-          doc.RgbdSensor.X_PB.doc_deprecated)
-      .def("X_BC",
-          WrapDeprecated(doc.RgbdSensor.X_BC.doc_deprecated, &RgbdSensor::X_BC),
-          doc.RgbdSensor.X_BC.doc_deprecated)
-      .def("X_BD",
-          WrapDeprecated(doc.RgbdSensor.X_BD.doc_deprecated, &RgbdSensor::X_BD),
-          doc.RgbdSensor.X_BD.doc_deprecated)
-      .def("color_camera_info",
-          WrapDeprecated(doc.RgbdSensor.color_camera_info.doc_deprecated,
-              &RgbdSensor::color_camera_info),
-          py_rvp::reference_internal,
-          doc.RgbdSensor.color_camera_info.doc_deprecated)
-      .def("depth_camera_info",
-          WrapDeprecated(doc.RgbdSensor.depth_camera_info.doc_deprecated,
-              &RgbdSensor::depth_camera_info),
-          py_rvp::reference_internal,
-          doc.RgbdSensor.depth_camera_info.doc_deprecated);
-#pragma GCC diagnostic pop
   def_camera_ports(&rgbd_sensor, doc.RgbdSensor);
 
   py::class_<RgbdSensorDiscrete, Diagram<double>> rgbd_camera_discrete(

bindings/pydrake/systems/test/sensors_test.py

@@ -8,7 +8,6 @@
 import numpy as np
 from pydrake.common import FindResourceOrThrow
 from pydrake.common.test_utilities import numpy_compare
-from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.common.test_utilities.pickle_compare import assert_pickle
 from pydrake.common.value import AbstractValue, Value
 from pydrake.geometry import (
@@ -474,18 +473,6 @@ def check_info(camera_info):
             self.assertEqual(sensor.default_parent_frame_id(), parent_id)
             sensor.set_default_parent_frame_id(parent_id)
 
-            with catch_drake_warnings(expected_count=1):
-                check_info(sensor.color_camera_info())
-            with catch_drake_warnings(expected_count=1):
-                check_info(sensor.depth_camera_info())
-            with catch_drake_warnings(expected_count=1):
-                self.assertIsInstance(sensor.X_PB(), RigidTransform)
-            with catch_drake_warnings(expected_count=1):
-                self.assertIsInstance(sensor.X_BC(), RigidTransform)
-            with catch_drake_warnings(expected_count=1):
-                self.assertIsInstance(sensor.X_BD(), RigidTransform)
-            with catch_drake_warnings(expected_count=1):
-                self.assertEqual(sensor.parent_frame_id(), parent_id)
             check_ports(sensor)
             # Check parameter API.
             context = sensor.CreateDefaultContext()

geometry/proximity/obj_to_surface_mesh.cc

@@ -57,22 +57,6 @@ TriangleSurfaceMesh<double> ReadObjToTriangleSurfaceMesh(
   return ReadObjToTriangleSurfaceMesh(MeshSource(filename), scale, on_warning);
 }
 
-TriangleSurfaceMesh<double> ReadObjToTriangleSurfaceMesh(
-    std::istream* input_stream, const double scale,
-    std::function<void(std::string_view)> on_warning,
-    std::string_view description) {
-  DRAKE_THROW_UNLESS(input_stream != nullptr);
-  DRAKE_THROW_UNLESS(input_stream->good());
-  std::stringstream content;
-  content << input_stream->rdbuf();
-
-  // We will either throw or return a mesh here (courtesy of ReadObj).
-  return ReadObjToTriangleSurfaceMesh(
-      InMemoryMesh{MemoryFile(std::move(content).str(), ".obj",
-                              std::string(description))},
-      scale, on_warning);
-}
-
 TriangleSurfaceMesh<double> ReadObjToTriangleSurfaceMesh(
     const MeshSource& mesh_source, double scale,
     std::function<void(std::string_view)> on_warning) {

geometry/proximity/obj_to_surface_mesh.h

@@ -2,14 +2,12 @@
 
 #include <filesystem>
 #include <functional>
-#include <istream>
 #include <optional>
 #include <string>
 #include <string_view>
 #include <vector>
 
 #include "drake/common/diagnostic_policy.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/geometry/mesh_source.h"
 #include "drake/geometry/proximity/triangle_surface_mesh.h"
 
@@ -49,16 +47,6 @@ TriangleSurfaceMesh<double> ReadObjToTriangleSurfaceMesh(
     const std::filesystem::path& filename, double scale = 1.0,
     std::function<void(std::string_view)> on_warning = {});
 
-/** Overload of @ref ReadObjToTriangleSurfaceMesh(const std::string&, double)
- with the Wavefront .obj file given in std::istream. */
-DRAKE_DEPRECATED(
-    "2025-01-01",
-    "Please use ReadObjToTriangleSurfaceMesh(const MeshSource&) instead.")
-TriangleSurfaceMesh<double> ReadObjToTriangleSurfaceMesh(
-    std::istream* input_stream, double scale = 1.0,
-    std::function<void(std::string_view)> on_warning = {},
-    std::string_view description = "from_stream");
-
 /** Overload of @ref ReadObjToTriangleSurfaceMesh(const std::filesystem::path&,
  double) with the Wavefront .obj in a Mesh shape specification. */
 TriangleSurfaceMesh<double> ReadObjToTriangleSurfaceMesh(

geometry/proximity/test/obj_to_surface_mesh_test.cc

@@ -78,20 +78,6 @@ GTEST_TEST(ObjToSurfaceMeshTest, FromPath) {
   EXPECT_TRUE(surface.Equal(MeshForQuadCube()));
 }
 
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-GTEST_TEST(ObjToSurfaceMeshTest, FromStream) {
-  const fs::path filename =
-      FindResourceOrThrow("drake/geometry/test/quad_cube.obj");
-  std::ifstream stream(filename);
-  DRAKE_DEMAND(stream.is_open());
-  const TriangleSurfaceMesh<double> surface =
-      ReadObjToTriangleSurfaceMesh(&stream);
-
-  EXPECT_TRUE(surface.Equal(MeshForQuadCube()));
-}
-#pragma GCC diagnostic pop
-
 // Tests the MeshSource-based overload.
 GTEST_TEST(ObjToSurfaceMeshTest, MeshSource) {
   constexpr double kUnitScale = 1.0;

manipulation/util/BUILD.bazel

@@ -6,7 +6,6 @@ load(
     "drake_cc_library",
     "drake_cc_package_library",
 )
-load("//tools/skylark:drake_py.bzl", "drake_py_binary")
 
 package(default_visibility = ["//visibility:public"])
 
@@ -117,17 +116,6 @@ drake_cc_library(
     ],
 )
 
-drake_py_binary(
-    name = "show_model",
-    srcs = ["show_model.py"],
-    deps = ["//bindings/pydrake"],
-)
-
-drake_py_binary(
-    name = "meshlab_to_sdf",
-    srcs = ["meshlab_to_sdf.py"],
-)
-
 drake_cc_binary(
     name = "stl2obj",
     srcs = ["stl2obj.cc"],

multibody/tree/BUILD.bazel

@@ -92,7 +92,6 @@ drake_cc_library(
         "fixed_offset_frame.cc",
         "force_element.cc",
         "frame.cc",
-        "frame_base.cc",
         "joint.cc",
         "joint_actuator.cc",
         "linear_bushing_roll_pitch_yaw.cc",
@@ -136,7 +135,6 @@ drake_cc_library(
         "fixed_offset_frame.h",
         "force_element.h",
         "frame.h",
-        "frame_base.h",
         "joint.h",
         "joint_actuator.h",
         "linear_bushing_roll_pitch_yaw.h",

multibody/tree/frame.h

@@ -6,7 +6,6 @@
 
 #include "drake/common/autodiff.h"
 #include "drake/common/nice_type_name.h"
-#include "drake/multibody/tree/frame_base.h"
 #include "drake/multibody/tree/frame_body_pose_cache.h"
 #include "drake/multibody/tree/multibody_element.h"
 #include "drake/multibody/tree/multibody_tree_indexes.h"
@@ -51,12 +50,15 @@ class RigidBody;
 ///
 /// @tparam_default_scalar
 template <typename T>
-class Frame : public FrameBase<T> {
+class Frame : public MultibodyElement<T> {
  public:
   DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(Frame);
 
   ~Frame() override;
 
+  /// Returns this element's unique index.
+  FrameIndex index() const { return this->template index_impl<FrameIndex>(); }
+
   /// Returns a const reference to the body associated to this %Frame.
   const RigidBody<T>& body() const { return body_; }
 
@@ -548,7 +550,7 @@ class Frame : public FrameBase<T> {
   /// instance.
   explicit Frame(const std::string& name, const RigidBody<T>& body,
                  std::optional<ModelInstanceIndex> model_instance = {})
-      : FrameBase<T>(model_instance.value_or(body.model_instance())),
+      : MultibodyElement<T>(model_instance.value_or(body.model_instance())),
         name_(internal::DeprecateWhenEmptyName(name, "Frame")),
         body_(body) {}
 

systems/sensors/rgbd_sensor.cc

@@ -218,38 +218,6 @@ const OutputPort<double>& RgbdSensor::image_time_output_port() const {
   return *image_time_output_port_;
 }
 
-const CameraInfo& RgbdSensor::color_camera_info() const {
-  return defaults_.color_camera.core().intrinsics();
-}
-
-const CameraInfo& RgbdSensor::depth_camera_info() const {
-  return defaults_.depth_camera.core().intrinsics();
-}
-
-const ColorRenderCamera& RgbdSensor::color_render_camera() const {
-  return default_color_render_camera();
-}
-
-const DepthRenderCamera& RgbdSensor::depth_render_camera() const {
-  return default_depth_render_camera();
-}
-
-const RigidTransformd& RgbdSensor::X_PB() const {
-  return default_X_PB();
-}
-
-const RigidTransformd& RgbdSensor::X_BC() const {
-  return defaults_.color_camera.core().sensor_pose_in_camera_body();
-}
-
-const RigidTransformd& RgbdSensor::X_BD() const {
-  return defaults_.depth_camera.core().sensor_pose_in_camera_body();
-}
-
-FrameId RgbdSensor::parent_frame_id() const {
-  return default_parent_frame_id();
-}
-
 namespace {
 // If the size of `image` already matches `camera`, then does nothing.
 // Otherwise, resizes the `image` to match `camera`.

systems/sensors/rgbd_sensor.h

@@ -1,7 +1,6 @@
 #pragma once
 
 #include "drake/common/drake_copyable.h"
-#include "drake/common/drake_deprecated.h"
 #include "drake/geometry/geometry_ids.h"
 #include "drake/geometry/query_object.h"
 #include "drake/geometry/render/render_camera.h"
@@ -219,40 +218,6 @@ class RgbdSensor final : public LeafSystem<double> {
    the current time). */
   const OutputPort<double>& image_time_output_port() const;
 
-  DRAKE_DEPRECATED(
-      "2025-01-01",
-      "Use default_color_render_camera().core().intrinsics() instead.")
-  const CameraInfo& color_camera_info() const;
-
-  DRAKE_DEPRECATED(
-      "2025-01-01",
-      "Use default_depth_render_camera().core().intrinsics() instead.")
-  const CameraInfo& depth_camera_info() const;
-
-  DRAKE_DEPRECATED("2025-01-01", "Use default_color_render_camera() instead.")
-  const geometry::render::ColorRenderCamera& color_render_camera() const;
-
-  DRAKE_DEPRECATED("2025-01-01", "Use default_depth_render_camera() instead.")
-  const geometry::render::DepthRenderCamera& depth_render_camera() const;
-
-  DRAKE_DEPRECATED("2025-01-01", "Use default_X_PB() instead.")
-  const math::RigidTransformd& X_PB() const;
-
-  DRAKE_DEPRECATED(
-      "2025-01-01",
-      "Use default_color_render_camera().core().sensor_pose_in_camera_body() "
-      "instead.")
-  const math::RigidTransformd& X_BC() const;
-
-  DRAKE_DEPRECATED(
-      "2025-01-01",
-      "Use default_depth_render_camera().core().sensor_pose_in_camera_body() "
-      "instead.")
-  const math::RigidTransformd& X_BD() const;
-
-  DRAKE_DEPRECATED("2025-01-01", "Use default_parent_frame_id() instead.")
-  geometry::FrameId parent_frame_id() const;
-
  private:
   // The calculator methods for the four output ports.
   void CalcColorImage(const Context<double>& context,