feat(franka): forward controller exceptions to python #82

Job	Run time
check-paths	7s
pythonpackage	3m 35s
build_extensions (rcs_realsense)	2m 32s
build_extensions (rcs_usb_cam)	2m 40s
build_cpp_extensions (rcs_fr3)	4m 16s
build_extensions (rcs_xarm7)	2m 45s
build_cpp_extensions (rcs_panda)	3m 15s
build_extensions (rcs_tacto)	2m 56s
build_cpp_extensions (rcs_robotics_library)	3m 40s
build_cpp_extensions (rcs_so101)	4m 43s
	30m 29s

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