Noisy warning when loading icub model

[traversaro]

I guess this is a problem either of icub-models or urdf_parser_py, but I want to report it as it is quite annoying and may be confusing for newcomers. Once I load the icub model from icub-models in ADAM, I get a lot of warnings:

        import adam
        from adam.jax import KinDynComputations
        import icub_models
        import numpy as np
        import scipy

        model_path = icub_models.get_model_file("iCubGazeboV2_5")
        # The joint list
        joints_name_list = ['torso_pitch']
        # Specify the root link
        root_link = 'root_link'
        kinDyn = KinDynComputations(model_path, joints_name_list, root_link)

I get:

Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']
Unknown tag "sensor" in /robot[@name='iCub']

env:

# packages in environment at /home/traversaro/miniforge3/envs/jax2casadi:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       2_gnu    conda-forge
adam-robotics             0.0.8              pyhf3ec037_0    conda-forge
ampl-mp                   3.1.0             h2cc385e_1006    conda-forge
anyio                     4.1.0              pyhd8ed1ab_0    conda-forge
argon2-cffi               23.1.0             pyhd8ed1ab_0    conda-forge
argon2-cffi-bindings      21.2.0          py312h98912ed_4    conda-forge
arrow                     1.3.0              pyhd8ed1ab_0    conda-forge
asttokens                 2.4.1              pyhd8ed1ab_0    conda-forge
async-lru                 2.0.4              pyhd8ed1ab_0    conda-forge
attrs                     23.1.0             pyh71513ae_1    conda-forge
babel                     2.13.1             pyhd8ed1ab_0    conda-forge
beautifulsoup4            4.12.2             pyha770c72_0    conda-forge
bleach                    6.1.0              pyhd8ed1ab_0    conda-forge
brotli-python             1.1.0           py312h30efb56_1    conda-forge
bzip2                     1.0.8                hd590300_5    conda-forge
c-ares                    1.23.0               hd590300_0    conda-forge
ca-certificates           2023.11.17           hbcca054_0    conda-forge
cached-property           1.5.2                hd8ed1ab_1    conda-forge
cached_property           1.5.2              pyha770c72_1    conda-forge
casadi                    3.6.3           py312h8182270_3    conda-forge
certifi                   2023.11.17         pyhd8ed1ab_0    conda-forge
cffi                      1.16.0          py312hf06ca03_0    conda-forge
charset-normalizer        3.3.2              pyhd8ed1ab_0    conda-forge
comm                      0.1.4              pyhd8ed1ab_0    conda-forge
cuda-version              11.8                 h70ddcb2_2    conda-forge
cudatoolkit               11.8.0              h4ba93d1_12    conda-forge
cudnn                     8.8.0.121            hcdd5f01_4    conda-forge
debugpy                   1.8.0           py312h30efb56_1    conda-forge
decorator                 5.1.1              pyhd8ed1ab_0    conda-forge
defusedxml                0.7.1              pyhd8ed1ab_0    conda-forge
eigen                     3.4.0                h00ab1b0_0    conda-forge
entrypoints               0.4                pyhd8ed1ab_0    conda-forge
exceptiongroup            1.2.0              pyhd8ed1ab_0    conda-forge
executing                 2.0.1              pyhd8ed1ab_0    conda-forge
fqdn                      1.5.1              pyhd8ed1ab_0    conda-forge
icu                       73.2                 h59595ed_0    conda-forge
icub-models               2.4.1           py312h30efb56_0    conda-forge
idna                      3.6                pyhd8ed1ab_0    conda-forge
importlib-metadata        7.0.0              pyha770c72_0    conda-forge
importlib_metadata        7.0.0                hd8ed1ab_0    conda-forge
importlib_resources       6.1.1              pyhd8ed1ab_0    conda-forge
ipopt                     3.14.13              he6d3896_0    conda-forge
ipykernel                 6.26.0             pyhf8b6a83_0    conda-forge
ipython                   8.18.1             pyh31011fe_2    conda-forge
isoduration               20.11.0            pyhd8ed1ab_0    conda-forge
jax                       0.4.19             pyhd8ed1ab_0    conda-forge
jaxlib                    0.4.19          cpu_py312hb17a006_0    conda-forge
jedi                      0.19.1             pyhd8ed1ab_0    conda-forge
jinja2                    3.1.2              pyhd8ed1ab_1    conda-forge
json5                     0.9.14             pyhd8ed1ab_0    conda-forge
jsonpointer               2.4             py312h7900ff3_3    conda-forge
jsonschema                4.20.0             pyhd8ed1ab_0    conda-forge
jsonschema-specifications 2023.11.2          pyhd8ed1ab_0    conda-forge
jsonschema-with-format-nongpl 4.20.0             pyhd8ed1ab_0    conda-forge
jupyter-lsp               2.2.1              pyhd8ed1ab_0    conda-forge
jupyter_client            8.6.0              pyhd8ed1ab_0    conda-forge
jupyter_core              5.5.0           py312h7900ff3_0    conda-forge
jupyter_events            0.9.0              pyhd8ed1ab_0    conda-forge
jupyter_server            2.11.2             pyhd8ed1ab_0    conda-forge
jupyter_server_terminals  0.4.4              pyhd8ed1ab_1    conda-forge
jupyterlab                4.0.9              pyhd8ed1ab_0    conda-forge
jupyterlab_pygments       0.3.0              pyhd8ed1ab_0    conda-forge
jupyterlab_server         2.25.2             pyhd8ed1ab_0    conda-forge
ld_impl_linux-64          2.40                 h41732ed_0    conda-forge
libabseil                 20230802.1      cxx17_h59595ed_0    conda-forge
libblas                   3.9.0           20_linux64_openblas    conda-forge
libcblas                  3.9.0           20_linux64_openblas    conda-forge
libedit                   3.1.20191231         he28a2e2_2    conda-forge
libexpat                  2.5.0                hcb278e6_1    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libgcc-ng                 13.2.0               h807b86a_3    conda-forge
libgfortran-ng            13.2.0               h69a702a_3    conda-forge
libgfortran5              13.2.0               ha4646dd_3    conda-forge
libgomp                   13.2.0               h807b86a_3    conda-forge
libgrpc                   1.58.2               he06187c_0    conda-forge
libhwloc                  2.9.1           nocuda_h7313eea_6    conda-forge
libiconv                  1.17                 h166bdaf_0    conda-forge
liblapack                 3.9.0           20_linux64_openblas    conda-forge
libnsl                    2.0.1                hd590300_0    conda-forge
libopenblas               0.3.25          pthreads_h413a1c8_0    conda-forge
libosqp                   0.6.3                h59595ed_0    conda-forge
libprotobuf               4.24.3               hf27288f_1    conda-forge
libqdldl                  0.1.5                h27087fc_1    conda-forge
libre2-11                 2023.06.02           h7a70373_0    conda-forge
libsodium                 1.0.18               h36c2ea0_1    conda-forge
libspral                  2023.08.02           h2baf039_0    conda-forge
libsqlite                 3.44.2               h2797004_0    conda-forge
libstdcxx-ng              13.2.0               h7e041cc_3    conda-forge
libuuid                   2.38.1               h0b41bf4_0    conda-forge
libxml2                   2.11.6               h232c23b_0    conda-forge
libxslt                   1.1.37               h0054252_1    conda-forge
libzlib                   1.2.13               hd590300_5    conda-forge
lxml                      4.9.3           py312he528aba_1    conda-forge
markupsafe                2.1.3           py312h98912ed_1    conda-forge
matplotlib-inline         0.1.6              pyhd8ed1ab_0    conda-forge
metis                     5.1.0             h59595ed_1007    conda-forge
mistune                   3.0.2              pyhd8ed1ab_0    conda-forge
ml_dtypes                 0.3.1           py312hfb8ada1_2    conda-forge
mumps-include             5.2.1               ha770c72_13    conda-forge
mumps-seq                 5.2.1               h2104b81_11    conda-forge
nbclient                  0.8.0              pyhd8ed1ab_0    conda-forge
nbconvert-core            7.12.0             pyhd8ed1ab_0    conda-forge
nbformat                  5.9.2              pyhd8ed1ab_0    conda-forge
nccl                      2.19.4.1             h6103f9b_0    conda-forge
ncurses                   6.4                  h59595ed_2    conda-forge
nest-asyncio              1.5.8              pyhd8ed1ab_0    conda-forge
notebook                  7.0.6              pyhd8ed1ab_0    conda-forge
notebook-shim             0.2.3              pyhd8ed1ab_0    conda-forge
numpy                     1.26.2          py312heda63a1_0    conda-forge
openssl                   3.2.0                hd590300_1    conda-forge
opt-einsum                3.3.0                hd8ed1ab_2    conda-forge
opt_einsum                3.3.0              pyhc1e730c_2    conda-forge
overrides                 7.4.0              pyhd8ed1ab_0    conda-forge
packaging                 23.2               pyhd8ed1ab_0    conda-forge
pandocfilters             1.5.0              pyhd8ed1ab_0    conda-forge
parso                     0.8.3              pyhd8ed1ab_0    conda-forge
pexpect                   4.8.0              pyh1a96a4e_2    conda-forge
pickleshare               0.7.5                   py_1003    conda-forge
pip                       23.3.1             pyhd8ed1ab_0    conda-forge
pkgutil-resolve-name      1.3.10             pyhd8ed1ab_1    conda-forge
platformdirs              4.1.0              pyhd8ed1ab_0    conda-forge
prettytable               3.9.0              pyhd8ed1ab_0    conda-forge
prometheus_client         0.19.0             pyhd8ed1ab_0    conda-forge
prompt-toolkit            3.0.41             pyha770c72_0    conda-forge
proxsuite                 0.5.1           py312h8572e83_1    conda-forge
psutil                    5.9.5           py312h98912ed_1    conda-forge
ptyprocess                0.7.0              pyhd3deb0d_0    conda-forge
pure_eval                 0.2.2              pyhd8ed1ab_0    conda-forge
pycparser                 2.21               pyhd8ed1ab_0    conda-forge
pygments                  2.17.2             pyhd8ed1ab_0    conda-forge
pysocks                   1.7.1              pyha2e5f31_6    conda-forge
python                    3.12.0          hab00c5b_0_cpython    conda-forge
python-dateutil           2.8.2              pyhd8ed1ab_0    conda-forge
python-fastjsonschema     2.19.0             pyhd8ed1ab_0    conda-forge
python-json-logger        2.0.7              pyhd8ed1ab_0    conda-forge
python_abi                3.12                    4_cp312    conda-forge
pytz                      2023.3.post1       pyhd8ed1ab_0    conda-forge
pyyaml                    6.0.1           py312h98912ed_1    conda-forge
pyzmq                     25.1.1          py312h886d080_2    conda-forge
re2                       2023.06.02           h2873b5e_0    conda-forge
readline                  8.2                  h8228510_1    conda-forge
referencing               0.31.1             pyhd8ed1ab_0    conda-forge
requests                  2.31.0             pyhd8ed1ab_0    conda-forge
rfc3339-validator         0.1.4              pyhd8ed1ab_0    conda-forge
rfc3986-validator         0.1.1              pyh9f0ad1d_0    conda-forge
rpds-py                   0.13.2          py312h4b3b743_0    conda-forge
scipy                     1.11.4          py312heda63a1_0    conda-forge
scotch                    6.0.9                hb2e6521_2    conda-forge
send2trash                1.8.2              pyh41d4057_0    conda-forge
setuptools                68.2.2             pyhd8ed1ab_0    conda-forge
simde                     0.7.6                h00ab1b0_0    conda-forge
six                       1.16.0             pyh6c4a22f_0    conda-forge
sniffio                   1.3.0              pyhd8ed1ab_0    conda-forge
soupsieve                 2.5                pyhd8ed1ab_1    conda-forge
stack_data                0.6.2              pyhd8ed1ab_0    conda-forge
terminado                 0.18.0             pyh0d859eb_0    conda-forge
tinycss2                  1.2.1              pyhd8ed1ab_0    conda-forge
tinyxml2                  9.0.0                h9c3ff4c_2    conda-forge
tk                        8.6.13          noxft_h4845f30_101    conda-forge
tomli                     2.0.1              pyhd8ed1ab_0    conda-forge
tornado                   6.3.3           py312h98912ed_1    conda-forge
traitlets                 5.14.0             pyhd8ed1ab_0    conda-forge
types-python-dateutil     2.8.19.14          pyhd8ed1ab_0    conda-forge
typing-extensions         4.8.0                hd8ed1ab_0    conda-forge
typing_extensions         4.8.0              pyha770c72_0    conda-forge
typing_utils              0.1.0              pyhd8ed1ab_0    conda-forge
tzdata                    2023c                h71feb2d_0    conda-forge
unixodbc                  2.3.12               h661eb56_0    conda-forge
urdfdom-py                1.2.1           py312h7900ff3_3    conda-forge
uri-template              1.3.0              pyhd8ed1ab_0    conda-forge
urllib3                   2.1.0              pyhd8ed1ab_0    conda-forge
wcwidth                   0.2.12             pyhd8ed1ab_0    conda-forge
webcolors                 1.13               pyhd8ed1ab_0    conda-forge
webencodings              0.5.1              pyhd8ed1ab_2    conda-forge
websocket-client          1.7.0              pyhd8ed1ab_0    conda-forge
wheel                     0.42.0             pyhd8ed1ab_0    conda-forge
xz                        5.2.6                h166bdaf_0    conda-forge
yaml                      0.2.5                h7f98852_2    conda-forge
zeromq                    4.3.5                h59595ed_0    conda-forge
zipp                      3.17.0             pyhd8ed1ab_0    conda-forge
zlib                      1.2.13               hd590300_5    conda-forge