autopybind: Should test current workflows for automated bindings

[EricCousineau-TRI]

As part of #7889, using #14265 (now #15205)

I've chosen the following symbols to genuinely try this workflow out on:

• New bindings:
  • Non-templated:
    • py render: Bind RenderEngineGlParams #14828 drake::geometry::render::RenderEngineGlParams
    • drake::multibody::StaticEquilibriumConstraint This has weird API (returns type from internal:: namespace)
  • Templated:
    • drake::systems::sensors::Accelerometer
    • drake::systems::PortSwitch
• Update bindings
  • Non-templated:
    • drake::solvers::MixedIntegerBranchAndBound
  • Templated:
    • drake::systems::SurfaceMesh
    • drake::multibody::MultibodyPlant

[EricCousineau-TRI]

FYI @josephsnyder

[EricCousineau-TRI]

My plan is to make the PR, but will strive to record what was necessary to go from generated bindings to my own liking as well as reviewer acceptance.

[EricCousineau-TRI]

For RenderEngineGlParams, see commits 56700ca and bde2a42 for final products.
Branch: https://github.com/EricCousineau-TRI/drake/tree/issue-14827-wip

@jamiesnape and @josephsnyder I've added opinionated steps that I took here to make initial state of #14828:
https://github.com/RobotLocomotion/drake/blob/56700ca7a4/tools/autopybind/README.md#steps-taken

Can both of you please review my steps here and let me know if there is anything better that I could have done?
I will file an issue about adding an option to suppress warnings (done), and possibly provide more user-friendly errors if a symbol isn't found in a file (I don't know how to request this).

Given current workflow for a simple case, I would still like to wait until certain parts of the denoising happen before asking anyone else to run this.

[EricCousineau-TRI]

Tried drake::multibody::StaticEquilibriumConstraint. Punted because of weird API (our fault), but there were still pain points w.r.t. autopybind11:
https://github.com/EricCousineau-TRI/drake/blob/f25751c7ca64755e55ade1ae10073937b25aeb5b/tools/autopybind/README.md#for-staticequilibriumconstraint

[EricCousineau-TRI]

I'm pausing any more of my effort on this until denoising lands.

[jwnimmer-tri]

Closing out as "unlikely to reach an actionable state within a reasonable timeframe".