Resolves potential linking error in python bindings

[SeanCurtis-TRI]

Move the static world frame id into function static -- this eliminates ODR problems based on how python bindings are articulated and combined.

(Came up in PR 9796).

---

This change is 

[SeanCurtis-TRI]

+@RussTedrake

/cc @jwnimmer-tri (With the requested never destroyed).

Reviewable status: all discussions resolved, platform LGTM missing

[jwnimmer-tri]

FYI The reason this code is better is because it removes the global variable's non-trivial constructor. (That is, now the initialization happens when first needed, instead of when the object code is loaded.) It does not make ODR compliance any better or worse -- but perhaps just less likely for ODR violations to cause problems in practice.

[EricCousineau-TRI]

Just to confirm, did this error occur at interpreter shutdown time, for any process that imported stuff from
pydrake.examples.manipulation_station? (which violates ODR by how it's linked in, relevant to #9645 and #9646)

Reviewable status: all discussions resolved, LGTM missing from assignee russtedrake, platform LGTM missing

[SeanCurtis-TRI]

The error was a runtime error. Basically the class-static member ended up getting duplicated twice. So, there were in fact two world frame ids running around in Russ's example. All of the code assumes that there's only a single and it led to lots of inscrutable bugs. @jwnimmer-tri seems to have triaged it already here: #9796 (comment)

Reviewable status: all discussions resolved, LGTM missing from assignee russtedrake, platform LGTM missing

[SeanCurtis-TRI]

FTR Given the simplicity of this PR, I'd accept a feature review from anyone who has weighed in and commented. Hint, hint. :)

Reviewable status: all discussions resolved, LGTM missing from assignee russtedrake, platform LGTM missing

[jwnimmer-tri]

feature and platform. I'll leave it up to you if you'd like to have a second pair of eyes also stamp it.

Reviewed 2 of 2 files at r1.
Reviewable status: all discussions resolved, LGTM missing from assignee russtedrake, platform LGTM from [jwnimmer-tri]

[SeanCurtis-TRI]

Thanks @jwnimmer-tri , I'm going to call it good. -@RussTedrake

Reviewable status: all discussions resolved, LGTM missing from assignee russtedrake, platform LGTM from [jwnimmer-tri]

[RussTedrake]

You guys aren't very patient. I was testing.

joint_teleop was broken this morning on master.
now that this has landed, it is STILL broken.
if I use the fix in my branch (which @SeanCurtis-TRI and I worked on together) instead of this fix, it resolves the problem.

[RussTedrake]

if it's useful, interesting... we could probably bisect and figure out when joint_teleop broke in the first place. and I'm remiss that I forgot to add the test_rule. Will do that on my next manipulation_station PR.

[jwnimmer-tri]

Russ and I discussed this f2f. His problem remains ODR linking with //examples/manipulation_station, not with this PR.

[SeanCurtis-TRI]

Thanks @jwnimmer-tri.

[jwnimmer-tri]

The real problem is https://github.com/RussTedrake/drake/blob/57697231447b9d19a430dfa4fe54b69f82a2be58/bindings/pydrake/examples/BUILD.bazel#L66-L67 (ala #8911). In cc_deps, you can't list things that use elements from libdrake.so, unless you link them via libdrake.so. Those lines should be removed, and instead add the manipulation_station to https://github.com/RobotLocomotion/drake/blob/master/tools/install/libdrake/build_components.bzl on your feature branch for now.

[jwnimmer-tri]

@RussTedrake I believe that this patch will, for your feature branch, solve the ODR issues for manipulation_station, by pulling examples/manipulation_station (as well as some of examples/kuka_iiwa, and geometry/dev, and sensors/dev, and ...) into libdrake.so. You'd apply this patch, and then run ./tools/install/libdrake/build_components_refresh.py --force to update the list of components.

jwnimmer@call-cps:~/jwnimmer-tri/drake$ git diff
diff --git a/bindings/pydrake/examples/BUILD.bazel b/bindings/pydrake/examples/BUILD.bazel
index af320ac..297c12b 100644
--- a/bindings/pydrake/examples/BUILD.bazel
+++ b/bindings/pydrake/examples/BUILD.bazel
@@ -63,8 +63,6 @@
     name = "manipulation_station_py",
     cc_deps = [
         "//bindings/pydrake:documentation_pybind",
-        "//examples/manipulation_station",
-        "//examples/manipulation_station:manipulation_station_hardware_interface",  # noqa
     ],
     cc_srcs = ["manipulation_station_py.cc"],
     package_info = PACKAGE_INFO,
diff --git a/tools/install/libdrake/build_components_refresh.py b/tools/install/libdrake/build_components_refresh.py
index 1a0aea1..8a208c1 100755
--- a/tools/install/libdrake/build_components_refresh.py
+++ b/tools/install/libdrake/build_components_refresh.py
@@ -44,7 +44,11 @@ kind("cc_library", visible("//tools/install/libdrake:libdrake.so", "//..."))
     except(attr("testonly", "1", "//..."))
     except("//:*")
     except("//bindings/pydrake/...")
-    except("//examples/...")
+    except(
+      "//examples/..." except(
+        "//examples/manipulation_station/..."
+      )
+    )
     except("//lcmtypes/...")
     except("//tools/install/libdrake:*")
     except(attr(tags, "exclude_from_libdrake", //...))

[RussTedrake]

it does indeed. thank you @jwnimmer-tri .