German Larrain committed 1370ccf

TODO: added a 'Tests' section; added/removed some test-related TODOs

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 -rename Simulation.get_joint as get_sim_joint
 -make JointSensor.__init__ be able to receive a Joint OR a SimulatedJoint, which
 wraps a Joint. The idea is to avoid confusing calls such as "x.get_joint().get_joint()"
--move ./tests to ars/test and convert to a package? See
 -dBodySetFiniteRotationAxis. is it necessary to set this if dBodySetFiniteRotationMode = true?
 -rename package "model" to "core"?
+-split 'tests' and what are examples of how to use external libs
 -move tests in utils.mathematical to a test file