Implement AbstractHandControlWrapper::getShapeJointValues

Needed for https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/rt/-/merge_requests/10

Implements std::map<std::string, float> getShapeJointValues(const std::string& shape) which returns the joint positions of a specific shape as a map containing the shortened joint identifiers without prefix (like Fingers instead of LeftHandFingers). This is needed in ARMAR-7's HandUnit implementation to override the HandUnit's base implementation, which works with joint names with prefix.

Therefore, a dummy implementation of this method had to added to the legacy armar6_v1/HandControllerWrapperV1 which also implements the modified AbstractHandUnitControllerWrapper-interface.