Added a test for DartLoader.

Author: Michael Koval

test_resources/r2d2.urdf

@@ -0,0 +1,48 @@
+<?xml version="1.0"?>
+<robot name="materials">
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+  </link>
+
+  <link name="right_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 .2 .1"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+  </link>
+
+  <joint name="base_to_right_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_leg"/>
+    <origin xyz="0.22 0 .25"/>
+  </joint>
+
+  <link name="left_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 .2 .1"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_left_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="left_leg"/>
+    <origin xyz="-0.22 0 .25"/>
+  </joint>
+
+</robot>

tests/test_DartLoader.py

@@ -0,0 +1,15 @@
+import dartpy
+import os.path
+import unittest
+
+class DartLoaderTest(unittest.TestCase):
+    ROOT_PATH = os.path.join(os.path.dirname(__file__), '..', 'test_resources')
+    URDF_PATH = os.path.join(ROOT_PATH, 'r2d2.urdf')
+
+    def test_parseSkeleton(self):
+        local_retriever = dartpy.LocalResourceRetriever()
+        loader = dartpy.DartLoader()
+
+        skeleton = loader.parseSkeleton(self.URDF_PATH, local_retriever)
+
+        self.assertIsNotNone(skeleton)