Cook the paccheri in plenty of salted, boiling water. When the pasta is cooked, drain it and stuff it with the Burrata cheese. Then, arrange the pasta in the centre of the plates (3 paccheri for each plate).
Place the garlic, oil, tomato, parsley, a small ladle of the pasta's cooking water and a pinch of salt in a small saucepan.
Cook the scampi in a non-stick frying pan and when they are ready, place 1 scampi on each of the paccheri.
Bring the stew in the small saucepan to the boil, adding the urchin 'meat' while it is still very hot and then remove the saucepan from the hotplate.
Pour the urchin stew over the paccheri and serve