test/urdf: add specific test for Baxter

unittest/urdf.cpp

 //
-// Copyright (c) 2015-2018 CNRS
+// Copyright (c) 2015-2020 CNRS INRIA
 //
 
 #include <iostream>
@@ -226,4 +226,12 @@ BOOST_AUTO_TEST_CASE(append_two_URDF_models_with_root_joint)
                     std::invalid_argument);
 }
 
+BOOST_AUTO_TEST_CASE(check_specific_models)
+{
+  const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/baxter_simple.urdf");
+
+  pinocchio::Model model;
+  pinocchio::urdf::buildModel(filename, model);
+}
+
 BOOST_AUTO_TEST_SUITE_END()