Add controlboard ini files for commanding the hands mk5

[Nicogene]

For doing this we have to take account of the coupling of the joints, and check the limits set in the csv files

[mfussi66]

The left hand had already the coupling coded up: robotology/gazebo-yarp-plugins#624

[Nicogene]

Today I tried to write an ini file like the one we had for the lower arm with the hand mk4 but unfortunately since thumb_rotate has been removed, adjust the ini removing the joint is not sufficient because that HandCouplingHandler is expecting that that joint exists.

We should create the couplinghandlermk5