feat(franka): option for tcp in desk #153

Job	Run time
check-paths	10s
pythonpackage	3m 39s
build_cpp_extensions (rcs_panda)	4m 1s
build_cpp_extensions (rcs_fr3)	4m 12s
build_cpp_extensions (rcs_robotics_library)	3m 56s
build_cpp_extensions (rcs_so101)	4m 16s
build_extensions (rcs_robotiq2f85)	2m 53s
build_extensions (rcs_usb_cam)	2m 39s
build_extensions (rcs_tacto)	3m 7s
build_extensions (rcs_realsense)	2m 46s
build_extensions (rcs_xarm7)	2m 55s
	34m 34s

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