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For the first error, loading a plugin has no interaction with the network -- but it does require that the plugin be built and the package it is in be on your path. How did you install wam_arm_kinematics, is it built? Is it on your path (can you "roscd wam_arm_kinematics")?

For the second error, this is almost certainly a network issue if your external computer declares ROS_IP= (the localhost) -- while the external PC can send messages to the internal one, there is no way that the internal machine can return messages to your external computer (since will be interpreted as its own IP, not the external computer). Since message from the internal PC cannot get to the external PC, it will never be "connected" to the action. You should set the ROS_IP to something that the wam computer can actually find (be sure that the WAM computer can ping the external computer).