[Meta-Ticket] Generalize tests

[ahcorde]

This PR follow the progress of this feature request #50

TODO

• Add more generalize test
  • SDF features
• review why coverage decreased:
  • Added joint_features common tests #408 (comment)

In review

Done

• More simulation features Improved simulation features common tests #407
• Joint features Added joint_features common tests #408
• Kinematic features Added kinematic features common tests #409
• Collisions Added collisions common tests #410
• Link features Added link features common tests #411
• Shapes features Added shape features common tests #412
• World features Added world features common tests #414
• Refactor helpers class Add more common test and refactor helper class #360
• Simulation features tests Added Simulation features common test #362
• Added structure Added basic architecture for common tests #357
• Added command line argument to tests Suggestion: Added basic architecture for common tests with cmd arguments #359
• Improve StepForward (bullet-featherstone and bullet) Improve bullet StepForward feature implementation and added granular test #376
• Gravity bullet-featherstone Added gravity feature to bullet-featherstone #375
• Added suggestions to bullet-featherstone Added suggestions to #373 #374
• Free joint features Added common test free joint features #363
• Granular test Common test: Granular test #364
• Improved Bullet implementation Improved bullet EntityManagementFeatures GetEntities #365