Fixes ShapeController requests in HandUnit::setShape

Fixed sw/armarx/skills/control#25 (closed) with @reister and @dreher

Fixes problems with ARMAR-7's HandUnit::setShape

• Setting "Open"/"Close" shapes had no effect until the HandUnit set a non special-cased shape / joint values (e.g. through the HandUnitGUI) because the special cased shapes didn't activate the ShapeController
• Shapes had to be set twice to reach an effect if the ShapeController was not active: This was due to the fact that the first call only activated the controller, but setting the targets had no effect because it takes some time to activate/request the controller (and the controller resets it's targets on activation)

We probably want to fix the same things for ARMAR-6's HandUnit because the same problems occurred there too -> !35 (merged)