Temporary workaround for MAIS finger problem

[MSECode]

This PR introduces a temporary fix to the hw fault check in order to do not have problem with YRI restarting on joints that mounts encoders which are highly sensible to disturbances, such as the MAIS on the fingers of iCub.
The reason to introduce this change and to define it temporary are here defined:

• previously with this PR the check on the hw faults has been enabled. As a matter of fact we realized that in that code section mentioned in the PR the logic of the code was erroneous, because the check of the faults is never taken into account, but the operations can continue independently on the fact that a fault is present or not. Therefore, it has been decided to wrap the method in a if condition and stop the calibration procedure if a fault is present;
• however, that PR brought up some misbehavior of the code, which were previously hidden, such as the fact that if an encoder is sensible to errors, it could happen that it measure oscillates around zero at YRI start-up and if it goes towards negative values there will be an hw limits error, which won't allow the code to go on with the calibration
• anyway, it should be underlined that the hw limit/boundaries exceed error happens because at YRI stopping the joints are set to IDLE instead of to NOT CONFIGURED, as when the YRI is started the first time. However, considering that modifying and test all the code of the motion controller for setting the joints to NOT CONFIGURED at YRI stop is planned for the upcoming release, as things now this fix is necessary to allow the users to work fine with MAIS joints.
• For sure this is not the best option but, after recalibrating the MAIS joints multiple times and having every time a different finger joint to go on fault, introduce the necessity to operates in this way

[MSECode]

After tests on iCubSingapore01 and discussion this is the conclusion for the hw limit boundaries exceeded, while working on the stable update for the behavior of the motion controller.
The changes to the code are just a couple of lines, anyway take a look to the PR body if it's clear.

NOTE: modifications already tested on iCubSingapore01

cc: @maggia80 @AntonioConsilvio @sgiraz