Fix roll, pitch, yaw goal position setting.

[simheo]

Currently we are not able to set roll, pitch, yaw properly because of the 60 degree offset, unless by using the look_at.

What is needed is to use the ik like this: https://github.com/pollen-robotics/reachy-sdk/blob/9e5e638e97f6d2d1e41d1c815923889bdafdc8d4/reachy_sdk/head.py#L203