Alternatives to PyKDL?

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Hello everyone!

I am currently using python 3.6.9 and ROS Melodic. I have tried a lot to install PyKDL but for some reason I am not able to build the source files. I also asked a question regarding the same on the orocos_kdl Github page. Click here to view the issue I created. It turns out PyKDL is not yet supported by python3 and there are some inherent issues with its compatibility with ROS.

I am wondering if there is an alternative to PyKDL? Basically I want to use the real robot URDF (in real time) to do inverse and forward kinematics and solve dynamics equations using python.