urdfpy (and its depency networkx) has issues with Python 3.10 and numpy > 1.20

[erwincoumans]

See also mmatl/urdfpy#23 and some 'fork'
This fork still has some issue using np.float (which has been removed, and should be replaced by float. Here is a newer fork that applies the fixes: https://github.com/erwincoumans/urdfpy and it can be installed (or put in a requirements.txt file) using:
pip install git+https://github.com/erwincoumans/urdfpy

[shi-eric]

The urdfpy dependency has been removed starting in 1.0.0-beta.1.