feat(franka): option for tcp in desk #154

Job	Run time
pythonpackage	3m 33s
check-paths	8s
build_cpp_extensions (rcs_fr3)	3m 59s
build_cpp_extensions (rcs_so101)	3m 59s
build_cpp_extensions (rcs_panda)	3m 44s
build_extensions (rcs_realsense)	2m 41s
build_extensions (rcs_usb_cam)	2m 41s
build_cpp_extensions (rcs_robotics_library)	3m 59s
build_extensions (rcs_tacto)	3m 23s
build_extensions (rcs_robotiq2f85)	2m 44s
build_extensions (rcs_xarm7)	2m 47s
	33m 38s

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