Install the emulator plugin:
On the Build Environment session of your job, configure the emulator, like this:
On the Common emulator options session:
The -verbose is more for you to have full logs when running it. I was having some problems with timeout, jenkins was able to start the emulator, but was waiting to be ready forever until I got timeout again.
So, I had to remove the boot animation, clean the data and remove the audio and everything was fine as you can see.
Thank you guys !