Franka_Analytical_IK_wrapped

1. Install pybind11 library

pip install pybind11

2. compile franka_ik_pybind.cpp

c++ -O3 -Wall -shared -std=c++11 -fPIC $(python3 -m pybind11 --includes) franka_ik_pybind.cpp -o franka_ik_pybind$(python3-config --extension-suffix)

3. import compiled library

import franka_ik_pybind

4. use functions in python

python surface_contact_pybind.py

import franka_ik_pybind
...
print(franka_ik_pybind.franka_IK(handPosition[i], handOrientation[i], random.uniform(-2.8973, 2.8973), initialJointPosition[:-2]))
...

Reference

https://github.com/ffall007/franka_analytical_ik

https://pybind11.readthedocs.io/en/stable/index.html