How to use python_orocos_kdl

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Hello everyone,

my goal is to perform forward kinematics on a big amount of states.
To do this, the moveit move_group interface is too slow (I hope to sample around 1000 to 100000 poses per second). This is why I want to use my URDF and the joint angles directly and use the package python_orocos_kdl. Unfortunately there seems to be no documentation whatsoever. (Documentation)
How would I go about doing this in Python? Is there a better package to do what I am trying to do? I am running indigo.

Thank you!