pip install pybind11

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

import franka_ik_pybind

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]))
...