Implement the JointUpdateReceiver to send updates to the KinematicUnitCore

• Generate the KinematicUnitListener interface from ice with slice2py
• Implement the methods of it that you need (they are not yet specified in the design statement)
• Send the updates you receive to the KinematicUnitCore
• Register yourself as an implementation of the KinematicUnitListener in the init method.

This issue involves some research into the kinematic unit, which could take a lot of time (making it a large issue)