Merge pull request #69 from jmirabel/devel

Add missing r2d2.urdf.

tests/python/r2d2.urdf

+<!--
+     The robot model was taken from
+     https://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch
+-->
+<robot name="test_build_robot_from_string">
+
+  <material name="blue">
+    <color rgba="0 0 0.8 1"/>
+  </material>
+
+  <material name="white">
+    <color rgba="1 1 1 1"/>
+  </material>
+
+
+  <link name="base_link">
+    <visual>
+      <geometry>
+        <cylinder length="0.6" radius="0.2"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+  </link>
+
+  <link name="right_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 0.1 0.2"/>
+      </geometry>
+      <origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
+      <material name="white"/>
+    </visual>
+  </link>
+
+  <joint name="base_to_right_leg" type="fixed">
+    <parent link="base_link"/>
+    <child link="right_leg"/>
+    <origin xyz="0 -0.22 0.25"/>
+  </joint>
+
+  <link name="left_leg">
+    <visual>
+      <geometry>
+        <box size="0.6 0.1 0.2"/>
+      </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 0.22 0.25"/>
+  </joint>
+
+</robot>