Fixes and cleanup for test_revolute:
Fixes and cleanup for test_revolute:

- get the reaction torque from the joint (not the total torque acting on the pendulum)
- fix transformation from link coordinate system to body2 coordinate system:  the force and torque must be transformed as directions, not as points
- add visualization assets for nicer rendering
- add option to translate the entire mechanism away from the global origin (for sanity checks: everything should be invariant to this translation)

Bryan-Peterson/chrono,rserban/chrono,Bryan-Peterson/chrono,Milad-Rakhsha/chrono,Milad-Rakhsha/chrono,dariomangoni/chrono,projectchrono/chrono,projectchrono/chrono,Bryan-Peterson/chrono,projectchrono/chrono,andrewseidl/chrono,armanpazouki/chrono,jcmadsen/chrono,dariomangoni/chrono,rserban/chrono,tjolsen/chrono,Milad-Rakhsha/chrono,Bryan-Peterson/chrono,armanpazouki/chrono,armanpazouki/chrono,jcmadsen/chrono,rserban/chrono,rserban/chrono,armanpazouki/chrono,dariomangoni/chrono,rserban/chrono,jcmadsen/chrono,andrewseidl/chrono,tjolsen/chrono,amelmquist/chrono,armanpazouki/chrono,dariomangoni/chrono,andrewseidl/chrono,rserban/chrono,projectchrono/chrono,jcmadsen/chrono,tjolsen/chrono,andrewseidl/chrono,Bryan-Peterson/chrono,dariomangoni/chrono,tjolsen/chrono,projectchrono/chrono,jcmadsen/chrono,Milad-Rakhsha/chrono,rserban/chrono,andrewseidl/chrono,armanpazouki/chrono,projectchrono/chrono,amelmquist/chrono,Milad-Rakhsha/chrono,Milad-Rakhsha/chrono,dariomangoni/chrono,jcmadsen/chrono,amelmquist/chrono,tjolsen/chrono,amelmquist/chrono,amelmquist/chrono,amelmquist/chrono,jcmadsen/chrono