IME tuxedo urchins, collector urchins, and long spine urchins are reef safe.
Collector urchins seem to cause the most aquascape damage because they, well, collect things more than the other sp of urchins. Mine would pick up colonies of zoas and hold them for weeks or months, which was annoying but cool.
I would recommend tuxedo urchins because they are small, stay fairly small, and tend to not pick up as large of objects ime.