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Fix HandUnit bugs resulting in shapes not being set for ARMAR-6

Patrick Dormanns requested to merge fix/hand-unit-ensure-active into main

Follow up on Fixes ShapeController requests in HandUnit::set... (!34 - merged)

  • Moves the ensureControllerIsActive-method from armar7/Device.cpp in common/AbstracHandControllerWrapper to use it for the ARMAR-6 hand as well
  • Implements fix for HandUnit bugs resulting in shapes not being set for ARMAR-6 (as done in !34 (merged) for ARMAR-7)
  • Cleaned up the fix for ARMAR-7

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