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 https://github.com/gsaponaro/robot-affordances/commit/e410f4ee2a8481f784d3d38dbe4278b286b0e6a4 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.