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feat(franka): forward controller exceptions to python #88

Job	Run time
pythonpackage	3m 20s
check-paths	6s
build_extensions (rcs_usb_cam)	2m 30s
build_extensions (rcs_xarm7)	2m 34s
build_extensions (rcs_realsense)	2m 31s
build_extensions (rcs_tacto)	2m 44s
build_cpp_extensions (rcs_so101)	5m 29s
build_cpp_extensions (rcs_panda)	3m 40s
build_cpp_extensions (rcs_robotics_library)	3m 41s
build_cpp_extensions (rcs_fr3)	4m 24s
	30m 59s