Implement 'ShapeHand'-skill

From #24 (closed)

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

Currently, only the supporting real robot (ARMAR-7), not the simulation! This is due to massive inconsistencies in the implementation of the HandUnit-Interface: In particular, RobotAPI's base implementation and ArmarXSimulation's implementation work with the full joint names with prefix (like LeftHandFingers), while ARMAR7's implementation works with the shortened joint names (like Fingers) (at least with https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/rt/-/merge_requests/10). This skill expects the latter (as input as well as HandUnit-Interface). Therefore, this skill doesn't work in simulation. The HandUnit-problems (there are some more) will have to be fixed in separately, as this probably needs an extensive rework.

Current state: Currently testing on real robot. Seems to work so far...

Follow-ups:

• Fix verbose problem: Verbose logging isn't displayed
• Investigate HandUnit problem: It seems like after restarting (the unit???) the HandUnit doesn't shape the hand, although the skills request reaches the HandUnit. Starting the HandUnitGUI and requesting a shape through it (necessary?) seemed to fix this temporarily.
• Define open and close hand shapes

@dreher FYI