fix(franka): left over ik refactor (#256) #100

Job	Run time
check-paths	10s
pythonpackage	4m 7s
build_extensions (rcs_usb_cam)	2m 32s
build_cpp_extensions (rcs_fr3)	18s
build_extensions (rcs_realsense)	2m 35s
build_cpp_extensions (rcs_panda)	25s
build_cpp_extensions (rcs_robotics_library)	17s
build_cpp_extensions (rcs_so101)	58s
build_extensions (rcs_tacto)	2m 46s
build_extensions (rcs_xarm7)	2m 33s
	16m 41s

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