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First, an option to continue with ROS and work on multiple platforms is migrate to ROS 2 that has support on Windows, macOS and Linux. There is MoveIt2 Framework that is updated to ROS 2.

But, if you still want an standalone library, I already use IKPY and find it usefull.

I'm not a moderator, but maybe this question could be more appropriate in an robotics forum like Robot Forum.

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