How can i use(or import) velocity kinematics(forward,inverse) in Isaac_Sim 4.5.0?

I am trying to map the 6D velocity vector (linear, angular) of the manipulator end effector to the delta pose of each joint. In Isaac-Lab, I could do it with from “omni.isaac.lab.controllers import DifferentialIKController, DifferentialIKControllerCfg”.
Is there a library or function in Isaac-Sim that has a similar function? Please let me know

Isaac Sim Version

[O] 4.5.0

Operating System

[O] Ubuntu 22.04