Get forward kinematics (w/o tf service call) from URDF & joint angles (Kinetic, Python)

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Context:
I am writing a python ROS node that:

1. Parses a URDF (from param server) and generates a trac_ik_python IK object.
2. Generates an end-effector trajectory between the current location (xyz) and a target location (xyz).
3. Then for each pt in the end-effector trajectory [(x0,y0,z0),(x1,y1,z1),...,(xn,yn,zn)].
   1. Gets joint angles from HEBI-X5 actuator.
   2. Calculates joint angles using trac_ik_python.
   3. Publishes joint angles to HEBI-X5.

Problem:
Inside the trajectory execution loop, I would like to know the actual end-effector position (based on some KDL tree and the HEBI actuator joint angle sensors).

If possible, I'd like to create the KDL object from the urdf - and just update it with the new joint angles.

Possible Solution:
This answer recommends using urdf_parser_py.urdf and pykdl_utils.kdl_kinematics
... unfortunately, pykdl_utils does not appear to be in ROS Kinetic.

Questions:

• What's the best way to obtain forward kinematics from a urdf and joint angles (w/o using a tf service call - too slow)?
• Is there a Kinetic substitute for pykdl_utils?