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I am looking for inverse kinematics library (preferably compatible with ROS) that includes functions to calculate inverse-jacobian to go from end-effector velocity (twist) to joint velocities. I've only found KDL that has this capability but before implementing KDL, I would to see if there is any other options that I can use.

I also saw TRAC-IK but as I see from the source code, it only supports inverse position kinematics.

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closed as primarily opinion-based by Chuck Oct 16 '17 at 17:39

Many good questions generate some degree of opinion based on expert experience, but answers to this question will tend to be almost entirely based on opinions, rather than facts, references, or specific expertise. If this question can be reworded to fit the rules in the help center, please edit the question.