[render] Allow a geometry to target a renderer (RobotLocomotion#13053)

* Allow a geometry to target a renderer

This allows for a geometry to define a property in its perception
properties which determines whether a RenderEngine will implement it or
not. It works by matching the renderer's name with an optionally
whitelisted set of "accepting" renderers.

Add new tag to the SDF and URDF files.

 - URDF: <visual><drake:accepting_renderer name="renderer_name"/></visual>
 - SDF: <visual>
          <drake:accepting_renderer>renderer_name
          </drake:accepting_renderer>
        </visual>

Build and lint fixes for the OpenGL render engine (RobotLocomotion#12850

)

doc: Note that GCC 7.5 is now Ubuntu's default compiler (RobotLocomot…

…ion#12845)

Removing examples/contact_model (RobotLocomotion#12719)

The examples in contact_model/ were examples of the old RBT contact model.
They don't exercise MBP and its contact models. They *could* be brought
back and updated to MBP if, down the road, we feel they have value.

Note: the default docker behavior was already configured to run the
acrobot, only the documentation mistakenly referred to the bowling
simulation. Now they match.

workspace: Upgrade pybind fork to use merge with latest upstream (Rob…

…otLocomotion#12572)

install: Disable drake_bazel_installed test on macOS (RobotLocomotion…

…#12492)

Port planar_scenegraph_visualizer from underactuated (RobotLocomotion…

…#12218)

Mesh support is removed for now
See RobotLocomotion#11104

Co-authored-by: Russ Tedrake <[email protected]>
Co-authored-by: Eric Cousineau <[email protected]>
Co-authored-by: Greg Izatt <[email protected]>

rotation_matrix_test: Add missing clang-format {off|on} directives

kuka: Disable controlled_kuka_multibody_demo under kcov (RobotLocomot…

…ion#12241)

common: Fix port from spruce to filesystem (RobotLocomotion#12122)

On macOS, setenv is dangerous (and trips asan checks), so be sure
to run each test case in its own process.