feat: adds franka state bindings and and state observation (#241) #32

Job	Run time
pythonpackage	3m 17s
check-paths	8s
build_cpp_extensions (rcs_so101)	12m 49s
build_cpp_extensions (rcs_panda)	3m 25s
build_extensions (rcs_tacto)	2m 41s
build_extensions (rcs_xarm7)	2m 40s
build_extensions (rcs_usb_cam)	2m 35s
build_cpp_extensions (rcs_fr3)	3m 57s
build_cpp_extensions (rcs_robotics_library)	3m 53s
build_extensions (rcs_realsense)	2m 35s
	38m 0s

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