Until it is fixed, a workaround is to use the upstream debian package:

wget http://deb.debian.org/debian/pool/main/o/orocos-
kdl/python3-pykdl_1.4.0-9_amd64.deb && sudo dpkg --install
python3-pykdl_1.4.0-9_amd64.deb

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https://bugs.launchpad.net/bugs/1871725

Title:
  python3-pykdl: PyKDL crashes Python 3 interpretter (SIGABRT) if any
  API accepting a str is used

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