Urupa (Urupá, Ituarupá) was a

Chapacuran language The Chapacuran languages are a nearly extinct Native American language family of South America. Almost all Chapacuran languages are extinct, and the four that are extant are moribund. They are spoken in Rondônia in the southern Amazon Basin of ...

. Yaru (Yarú, Jarú) was a dialect or a closely related language.

References

Chapacuran languages Extinct languages of South America {{na-lang-stub