Load robot action safety check bounds from ini file

[vicentepedro]

Right now the safety check depends on the action and hand.
The action is safe if:

• TapFromLeft & TapFromRight
  -0.45 < X < -0.2
  Z > -0.13
  Y < 0.10 (LeftArm)
  Y > -0.10 (RightArm)

• Push & Draw
  -0.40 < X < -0.2
  Y < -0.12 (LeftArm)
  Y > 0.12 (RightArm)
  Z > -0.13

/cc @gsaponaro @atabakd

We must be very conservative in the first experiments ;)

[gsaponaro]

With e410f4e we relaxed the general (all actions) X safety limits to be -0.51 < X < -0.23.

[gsaponaro]

In order to "Load robot action safety check bounds from ini file", we can do it like in demoRedBall, with parameters defined in an ini file and some default values.