[pydrake] Deprecate tkinter-using classes (RobotLocomotion#16656)

Also remove then from pydrake.all.
Therefore, pydrake no longer depends on python3-tk.

bindings/pydrake/manipulation/BUILD.bazel

@@ -123,6 +123,7 @@ drake_py_unittest(
     ],
     deps = [
         ":simple_ui_py",
+        "//bindings/pydrake/common/test_utilities:deprecation_py",
         "//bindings/pydrake/multibody",
     ],
 )

bindings/pydrake/manipulation/all.py

@@ -1,4 +1,3 @@
 from .kuka_iiwa import *
 from .planner import *
 from .schunk_wsg import *
-from .simple_ui import *

bindings/pydrake/manipulation/simple_ui.py

@@ -16,8 +16,13 @@
     PublishEvent,
     VectorSystem,
 )
+from pydrake.common.deprecation import deprecated_callable
 
 
+@deprecated_callable("pydrake.manipulation.simple_ui.JointSliders has been"
+                     "deprecated in favor of "
+                     "pydrake.multibody.meshcat.JointSliders",
+                     date="2022-06-01")
 class JointSliders(VectorSystem):
     """
     Provides a simple tcl/tk gui with one slider per joint of the
@@ -155,6 +160,8 @@ def DoCalcVectorOutput(self, context, unused, unused2, output):
             output[self._slider_position_start[i]] = self._slider[i].get()
 
 
+@deprecated_callable("pydrake.manipulation.simple_ui.SchunkWsgButtons has been"
+                     " deprecated", date="2022-06-01")
 class SchunkWsgButtons(LeafSystem):
     """
     Adds buttons to open/close the Schunk WSG gripper to an existing Tkinter

bindings/pydrake/manipulation/test/simple_ui_test.py

@@ -11,6 +11,7 @@
     import Tkinter as tk
 
 from pydrake.common import FindResourceOrThrow
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 from pydrake.multibody.plant import MultibodyPlant
 from pydrake.multibody.parsing import Parser
 from pydrake.systems.framework import BasicVector
@@ -24,10 +25,10 @@ def test_joint_slider(self):
         plant = MultibodyPlant(0.0)
         Parser(plant).AddModelFromFile(file_name)
         plant.Finalize()
-
-        slider = JointSliders(robot=plant, lower_limit=-5., upper_limit=5.,
-                              resolution=0.001, update_period_sec=0.01,
-                              title='test', length=300)
+        with catch_drake_warnings(expected_count=1):
+            slider = JointSliders(robot=plant, lower_limit=-5., upper_limit=5.,
+                                  resolution=0.001, update_period_sec=0.01,
+                                  title='test', length=300)
         slider.window.withdraw()  # Don't open a window during testing.
         context = slider.CreateDefaultContext()
         output = slider.AllocateOutput()
@@ -42,9 +43,10 @@ def test_joint_slider(self):
     def test_schunk_wsg_buttons(self):
         window = tk.Tk()
         window.withdraw()  # Don't open a window during testing.
-        wsg_buttons = SchunkWsgButtons(window, closed_position=0.008,
-                                       open_position=0.05, force_limit=50,
-                                       update_period_sec=1.0)
+        with catch_drake_warnings(expected_count=1):
+            wsg_buttons = SchunkWsgButtons(window, closed_position=0.008,
+                                           open_position=0.05, force_limit=50,
+                                           update_period_sec=1.0)
         context = wsg_buttons.CreateDefaultContext()
         output = wsg_buttons.AllocateOutput()
 

bindings/pydrake/systems/BUILD.bazel

@@ -603,6 +603,7 @@ drake_py_unittest(
     deps = [
         ":primitives_py",
         ":system_sliders_py",
+        "//bindings/pydrake/common/test_utilities:deprecation_py",
     ],
 )
 

bindings/pydrake/systems/all.py

@@ -10,7 +10,6 @@
 from .rendering import *
 from .scalar_conversion import *
 from .sensors import *
-from .system_sliders import *
 from .trajectory_optimization import *
 
 try:

bindings/pydrake/systems/system_sliders.py

@@ -6,8 +6,11 @@
 import numpy as np
 
 from pydrake.systems.framework import (PublishEvent, VectorSystem)
+from pydrake.common.deprecation import deprecated_callable
 
 
+@deprecated_callable("pydrake.systems.system_sliders.SystemSliders has been"
+                     " deprecated", date="2022-06-01")
 class SystemSliders(VectorSystem):
     """
     Provides a set of tcl/tk-based sliders intended to control the values

bindings/pydrake/systems/test/system_sliders_test.py

@@ -9,6 +9,7 @@
     import Tkinter as tk
 
 from pydrake.systems.system_sliders import SystemSliders
+from pydrake.common.test_utilities.deprecation import catch_drake_warnings
 
 
 class TestSystemSliders(unittest.TestCase):
@@ -17,11 +18,13 @@ def test_multibody_plant_slider(self):
         # size of the output port is correct, and appropriate
         # errors are thrown for incorrect usage.
         port_size = 3
-        slider = SystemSliders(port_size,
-                               slider_names=["x", "y", "z"], lower_limit=-5.,
-                               upper_limit=[5., 1., 10.], resolution=0.001,
-                               update_period_sec=0.01, title='test',
-                               length=300)
+        with catch_drake_warnings(expected_count=1):
+            slider = SystemSliders(port_size,
+                                   slider_names=["x", "y", "z"],
+                                   lower_limit=-5.,
+                                   upper_limit=[5., 1., 10.], resolution=0.001,
+                                   update_period_sec=0.01, title='test',
+                                   length=300)
         slider.window.withdraw()  # Don't open a window during testing.
         context = slider.CreateDefaultContext()
         output = slider.AllocateOutput()
@@ -66,22 +69,26 @@ def test_multibody_plant_slider(self):
         with self.assertRaisesRegex(
                 ValueError,
                 r"Slider names size \(2\) doesn't match port size \(3\)"):
-            SystemSliders(port_size, slider_names=["a", "b"])
+            with catch_drake_warnings(expected_count=1):
+                SystemSliders(port_size, slider_names=["a", "b"])
 
         # Incorrect size of passed in lower limits.
         with self.assertRaisesRegex(
                 ValueError,
                 r"Size of lower_limit \(4\) doesn't match port size \(3\)"):
-            SystemSliders(port_size, lower_limit=[2, 3, 4, 5])
+            with catch_drake_warnings(expected_count=1):
+                SystemSliders(port_size, lower_limit=[2, 3, 4, 5])
 
         # Incorrect size of passed in upper limits.
         with self.assertRaisesRegex(
                 ValueError,
                 r"Size of upper_limit \(0\) doesn't match port size \(3\)"):
-            SystemSliders(port_size, upper_limit=[])
+            with catch_drake_warnings(expected_count=1):
+                SystemSliders(port_size, upper_limit=[])
 
         # Incorrect size of passed in resolutions.
         with self.assertRaisesRegex(
                 ValueError,
                 r"Size of resolution \(5\) doesn't match port size \(3\)"):
-            SystemSliders(port_size, resolution=[1, 2, 3, 4, 5])
+            with catch_drake_warnings(expected_count=1):
+                SystemSliders(port_size, resolution=[1, 2, 3, 4, 5])

doc/_pages/pip.md

@@ -70,14 +70,14 @@ For Ubuntu 18.04, install these additional libraries:
 
 ```bash
 sudo apt-get install --no-install-recommends \
-  libpython3.6 python3-tk libx11-6 libsm6 libxt6 libglib2.0-0
+  libpython3.6 libx11-6 libsm6 libxt6 libglib2.0-0
 ```
 
 For Ubuntu 20.04, install these additional libraries:
 
 ```bash
 sudo apt-get install --no-install-recommends \
-  libpython3.8 python3-tk libx11-6 libsm6 libxt6 libglib2.0-0
+  libpython3.8 libx11-6 libsm6 libxt6 libglib2.0-0
 ```
 
 Activate the virtual environment:

tools/wheel/test/provision.sh

@@ -14,7 +14,7 @@ apt-get -y update
 
 apt-get -y install --no-install-recommends \
     lib${PYTHON}-dev ${PYTHON}-venv \
-    python3-venv python3-tk \
+    python3-venv \
     libx11-6 libsm6 libxt6 libglib2.0-0
 
 ${PYTHON} -m venv /opt/python