moved kinematic unit proxy to approapriate subclasses

source/RobotAPI/components/units/HandUnit.cpp

@@ -105,9 +105,6 @@ void HandUnit::onInitComponent()
     listenerChannelName = endeffectorName + "State";
     offeringTopic(listenerChannelName);
 
-    kinematicUnitName = getProperty<std::string>("KinematicUnitName").getValue();
-    usingProxy(kinematicUnitName);
-
     this->onInitHandUnit();
 }
 
@@ -117,8 +114,6 @@ void HandUnit::onConnectComponent()
     ARMARX_INFO << "setting report topic to " << listenerChannelName << flush;
     listenerPrx = getTopic<HandUnitListenerPrx>(listenerChannelName);
 
-    kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinematicUnitName);
-
     this->onStartHandUnit();
 }
 

source/RobotAPI/components/units/HandUnit.h

@@ -57,7 +57,6 @@ namespace armarx
         {
             defineRequiredProperty<std::string>("RobotFileName", "VirtualRobot XML file in which the endeffector is is stored.");
             defineRequiredProperty<std::string>("EndeffectorName", "Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')");
-            defineRequiredProperty<std::string>("KinematicUnitName", "Name of the kinematic unit that should be used");
         }
     };
 
@@ -157,8 +156,6 @@ namespace armarx
          */
         SingleTypeVariantListPtr shapeNames;
 
-        KinematicUnitInterfacePrx kinematicUnitPrx;
-
         std::string kinematicUnitName;
 
         VirtualRobot::RobotPtr robot;

source/RobotAPI/gui_plugins/HandUnitPlugin/HandUnitGuiPlugin.cpp

@@ -76,6 +76,7 @@ void HandUnitWidget::configured()
 
 void HandUnitWidget::preshapeHand()
 {
+    ARMARX_INFO << "Setting new hand shape: " << ui.comboPreshapes->currentText().toUtf8().data();
     handUnitProxy->setShape(ui.comboPreshapes->currentText().toUtf8().data());
 }