Remove legacy ShapeHand-skill

Part of control#24 (closed)

Removes the legacy ShapeHand-skill.

Migrations to new ShapeHand-skill have to be merged before:

• Migrate to new 'Control' ShapeHand-skill (!39 - merged)
• https://git.h2t.iar.kit.edu/sw/armarx/skills/mobile-manipulation/-/merge_requests/42+