Add Candlewick example

Author: stephane-caron

examples/show_in_candlewick.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""
+Show a robot description selected from the command line in Candlewick.
+
+This example requires Pinocchio, installed by e.g. `conda install pinocchio`,
+and Candlewick: https://github.com/Simple-Robotics/candlewick.
+"""
+
+import argparse
+
+try:
+    from candlewick.multibody import Visualizer, VisualizerConfig
+except ImportError as import_error:
+    raise ImportError(
+        "Candlewick not found, "
+        "see https://github.com/Simple-Robotics/candlewick"
+    ) from import_error
+
+from robot_descriptions.loaders.pinocchio import load_robot_description
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("name", help="name of the robot description")
+    parser.add_argument("--width", help="window width in px", default=1600)
+    parser.add_argument("--height", help="window height in px", default=900)
+    args = parser.parse_args()
+
+    try:
+        robot = load_robot_description(args.name)
+    except ModuleNotFoundError:
+        robot = load_robot_description(f"{args.name}_description")
+
+    config = VisualizerConfig()
+    config.width = args.width
+    config.height = args.height
+    visualizer = Visualizer(config, robot.model, robot.visual_model)
+    while not visualizer.shouldExit:
+        visualizer.display(robot.q0)