feat(franka): forward controller exceptions to python #81

Job	Run time
check-paths	6s
pythonpackage	3m 41s
build_cpp_extensions (rcs_robotics_library)	3m 36s
build_extensions (rcs_xarm7)	2m 43s
build_cpp_extensions (rcs_so101)	3m 37s
build_extensions (rcs_usb_cam)	2m 40s
build_cpp_extensions (rcs_fr3)	3m 38s
build_extensions (rcs_realsense)	2m 50s
build_extensions (rcs_tacto)	3m 16s
build_cpp_extensions (rcs_panda)	3m 22s
	29m 29s

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