tiago_dual: add loader & unit-test

python/example_robot_data/robots_loader.py

@@ -283,6 +283,10 @@ class TiagoLoader(RobotLoader):
     urdf_filename = "tiago.urdf"
 
 
+class TiagoDualLoader(TiagoLoader):
+    urdf_filename = "tiago_dual.urdf"
+
+
 class TiagoNoHandLoader(TiagoLoader):
     urdf_filename = "tiago_no_hand.urdf"
 
@@ -485,6 +489,7 @@ ROBOTS = {
     'talos_full': TalosFullLoader,
     'talos_full_box': TalosFullBoxLoader,
     'tiago': TiagoLoader,
+    'tiago_dual': TiagoDualLoader,
     'tiago_no_hand': TiagoNoHandLoader,
     'ur3': UR5Loader,
     'ur3_gripper': UR3GripperLoader,

unittest/test_load.py

@@ -100,6 +100,9 @@ class RobotTestCase(unittest.TestCase):
     def test_tiago(self):
         self.check('tiago', 50, 48)
 
+    def test_tiago_dual(self):
+        self.check('tiago_dual', 111, 101)
+
     def test_tiago_no_hand(self):
         self.check('tiago_no_hand', 14, 12)