GeometryProperties with aggregate values cannot be set in pydrake

[SeanCurtis-TRI]

What happened?

Using the ("renderer", "accepting") property as a concrete example. The property is consumed by GeometryState and is used to determine if a geometry should be registered with a particular RenderEngine instance. The expected type of the property is std::set<string>.

Intuitively, one would expect in python, that to set the property, we could simply do:

properties = PerceptionProperties()
properties.AddProperty("rendererer", "accepting", set("A", "B"))

However, when GeometryState goes to extract the property, it does not find a property of type std::set<std::string>. Instead, it finds an instance of type drake:pydrake:Object.

There aren't too many properties of this type (this is the only one that immediately leaps to mind). Most other property values are instances of known primitive or C++ types bound in pydrake. So, the problem doesn't come up much. But it does prevent at least this one property from being set in python.

Version

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What operating system are you using?

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What installation option are you using?

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Relevant log output

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