Consider adding IK example

[tabula-rosa]

I used this repo for Franka IK and it has worked pretty well and is reasonably robust:
https://github.com/petercorke/robotics-toolbox-python

For example, if someone wanted to start the Franka in a particular EE pose that is sampled each time at reset. I found this was useful for reducing the overall simulation time by removing pre-grasp motions.