linewidth_does_not_work.py

import numpy as np
import time

from pydrake.all import (
    StartMeshcat,
    RigidTransform,
    RotationMatrix
)

meshcat = StartMeshcat()

rot = np.array([
    [-1, 0, 0],
    [0, 0, -1],
    [0, -1, 0]
])
# print(np.linalg.det(rot))
trans = np.array([0, 0, 1])
tf = RigidTransform(RotationMatrix(rot), trans)

limits = [[0, 20], [0, 20]]
meshcat.Set2dRenderMode(X_WC=tf,
                        xmin=limits[0][0] - 1,
                        xmax=limits[0][1] + 1,
                        ymin=limits[1][0] - 1,
                        ymax=limits[1][1] + 1)

starts = [[0, 0, 0], [0, 0, 0]]
ends = [[5, 15, 0], [15, 5, 0]]

starts = np.asarray(starts).T
ends = np.asarray(ends).T

meshcat.SetLineSegments(
    path="thin_line",
    start=starts[:,:1],
    end=ends[:,:1],
    line_width=1.0 # Works if 0.1 on firefox
)
meshcat.SetLineSegments(
    path="thick_line",
    start=starts[:,1:],
    end=ends[:,1:],
    line_width=10.0
)

while True:
    time.sleep(1)