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Here is a work around. I found that I could install PyKDL by sudo apt install python3-pykdl This installs a library to /usr/lib/python3/dist-packages/PyKDL.cpython-38-x86_64-linux-gnu.so.

Then, I made sure that my PYTHONPATH contains /usr/lib/python3/dist-packages/. Now, import PyKDL finally succeeds.

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