Enable test for model generation

[Nicogene]

This PR imports the consistency tests for the model generation.
I imported the tests by copying-pasting the tests for icub3

Running the tests I corrected some axis orientations(#7) but some failures in the joint orientation cannot be fixed by simply inverting the axes.

Moreover, we have also discrepancies in the ft sensors orientation and r/l_sole alignment, for now I disabled the failing tests in order to not making fail the CI, but I think they have to be addressed in separate issues

It fixes #6

[traversaro]

Ok for me, even if we are mixing conda and apt/pip and this could create problems in the future.

[Nicogene]

This PR closes also #24 since the difference in orientation is due to #7 (comment)