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I have an answer! The issue falls from the adaptation of Python3. Running the following worked to fix this.

$ cd ~/ros_catkin_ws/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL
$ rm -f ./std_string.sip
$ wget https://raw.githubusercontent.com/orocos/orocos_kinematics_dynamics/master/python_orocos_kdl/PyKDL/std_string.sip

This allows several more things to build. Now up to 117/223 building for desktop_full on Gentoo..

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