You can run the emulator using this shell script:
sh '${ANDROID_HOME}/emulator -avd <avd_name> [<options>]'
Before that, you need to create avdonce:
~/.android/android create avd ...
.
:
step([
$class: 'AndroidEmulator',
osVersion: 'android-23',
screenResolution: '1080x1920',
screenDensity: 'xxhdpi',
deviceLocale: 'en_US',
targetAbi: 'x86',
sdCardSize: '200M',
showWindow: true,
commandLineOptions: '-noaudio -gpu mesa -qemu -m 1024 -enable-kvm'
])
?