[multibody] Removal of deprecated Parser::AddModelFromString (#19413)

bindings/pydrake/multibody/parsing_py.cc

@@ -128,17 +128,6 @@ PYBIND11_MODULE(parsing, m) {
             cls_doc.SetAutoRenaming.doc)
         .def("GetAutoRenaming", &Class::GetAutoRenaming,
             cls_doc.GetAutoRenaming.doc);
-
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-    cls  // BR
-        .def("AddModelFromString",
-            WrapDeprecated(cls_doc.AddModelFromString.doc_deprecated,
-                &Class::AddModelFromString),
-            py::arg("file_contents"), py::arg("file_type"),
-            py::arg("model_name") = "",
-            cls_doc.AddModelFromString.doc_deprecated);
-#pragma GCC diagnostic pop
   }
 
   // Model Directives

bindings/pydrake/multibody/test/parsing_test.py

@@ -134,13 +134,6 @@ def test_parser_string(self):
             "drake/multibody/benchmarks/acrobot/acrobot.sdf")
         with open(sdf_file, "r") as f:
             sdf_contents = f.read()
-        plant = MultibodyPlant(time_step=0.01)
-        parser = Parser(plant=plant)
-        self.assertEqual(parser.plant(), plant)
-        with catch_drake_warnings(expected_count=1):
-            result = parser.AddModelFromString(
-                file_contents=sdf_contents, file_type="sdf")
-        self.assertIsInstance(result, ModelInstanceIndex)
 
         plant = MultibodyPlant(time_step=0.01)
         parser = Parser(plant=plant)

multibody/parsing/parser.cc

@@ -105,23 +105,5 @@ ModelInstanceIndex Parser::AddModelFromFile(
   return *maybe_model;
 }
 
-ModelInstanceIndex Parser::AddModelFromString(
-    const std::string& file_contents,
-    const std::string& file_type,
-    const std::string& model_name) {
-  DataSource data_source(DataSource::kContents, &file_contents);
-  const std::string pseudo_name(data_source.GetStem() + "." + file_type);
-  ParserInterface& parser = SelectParser(diagnostic_policy_, pseudo_name);
-  auto composite = internal::CompositeParse::MakeCompositeParse(this);
-  std::optional<ModelInstanceIndex> maybe_model;
-  maybe_model = parser.AddModel(data_source, model_name, model_name_prefix_,
-                                composite->workspace());
-  if (!maybe_model.has_value()) {
-    throw std::runtime_error(
-        fmt::format("{}: parsing failed", pseudo_name));
-  }
-  return *maybe_model;
-}
-
 }  // namespace multibody
 }  // namespace drake

multibody/parsing/parser.h

@@ -248,23 +248,6 @@ class Parser final {
       const std::string& file_name,
       const std::string& model_name = {});
 
-  /// Provides same functionality as AddModelFromFile, but instead parses the
-  /// model description text data via @p file_contents with format dictated by
-  /// @p file_type.
-  ///
-  /// @param file_contents The model data to be parsed.
-  /// @param file_type The data format; must be one of the filename suffixes
-  /// listed above, *without* the leading dot (.) .
-  /// @param model_name The name given to the newly created instance of this
-  /// model. If empty, the model name provided by the input text will be used.
-  /// @returns The instance index for the newly added model.
-  /// @throws std::exception in case of errors.
-  DRAKE_DEPRECATED("2023-04-01", "Use AddModelsFromString() instead.")
-  ModelInstanceIndex AddModelFromString(
-      const std::string& file_contents,
-      const std::string& file_type,
-      const std::string& model_name = {});
-
  private:
   friend class internal::CompositeParse;
 

multibody/parsing/test/parser_test.cc

@@ -213,27 +213,6 @@ GTEST_TEST(FileParserTest, BasicStringTest) {
   }
 }
 
-GTEST_TEST(FileParserTest, LegacyStringMethodTest) {
-  // Just make sure the legacy method "AddModelFromString" still works. This
-  // test can go away when the method is removed.
-  //
-  // Note that extensive per-format testing is not required, since
-  // AddModelFromString is implemented as a thin wrapper around
-  // ParserInterface::AddModel. It shares the underlying implementation in
-  // common with AddModelFromFile.
-  const std::string sdf_name = FindResourceOrThrow(
-      "drake/multibody/benchmarks/acrobot/acrobot.sdf");
-  const std::string sdf_contents = ReadEntireFile(sdf_name);
-  MultibodyPlant<double> plant(0.0);
-  Parser dut(&plant);
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  const ModelInstanceIndex id = dut.AddModelFromString(sdf_contents, "sdf",
-                                                       "foo");
-#pragma GCC diagnostic pop
-  EXPECT_EQ(plant.GetModelInstanceName(id), "foo");
-}
-
 // Try loading a file with two <model> elements, but without a <world>.
 // This should always result in an error. For an example of a valid <world>
 // with two <model> elements, refer to MultiModelViaWorldIncludesTest.