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Added unittest code and CI setup

Carlos Mastalli requested to merge unittest into master

In this PR I do:

  • addition of loading unit-test code that depends on pinocchio,
  • definition of Dockerfile and CI configuration, and
  • better description of installation procedure and pipeline status inside Readme.

As you can see there is missing something here, it's failing the CI job. @gsaurel could you add the additional information here?

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