feat(franka): option for tcp in desk #155

Job	Run time
check-paths	8s
pythonpackage	3m 19s
build_cpp_extensions (rcs_fr3)	4m 32s
build_extensions (rcs_xarm7)	2m 31s
build_cpp_extensions (rcs_so101)	5m 13s
build_cpp_extensions (rcs_robotics_library)	3m 48s
build_cpp_extensions (rcs_panda)	3m 47s
build_extensions (rcs_realsense)	2m 34s
build_extensions (rcs_tacto)	3m 7s
build_extensions (rcs_robotiq2f85)	2m 54s
build_extensions (rcs_usb_cam)	2m 45s
	34m 38s

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