Avoid to print a warning for each sensor tag in loaded URDF file

src/adam/model/std_factories/std_model.py

@@ -1,11 +1,25 @@
 import pathlib
 from typing import List
+import xml.etree.ElementTree as ET
 
 import urdf_parser_py.urdf
 
 from adam.core.spatial_math import SpatialMath
 from adam.model import ModelFactory, StdJoint, StdLink
 
+def urdf_remove_sensors_tags(xml_string):
+    # Parse the XML string
+    root = ET.fromstring(xml_string)
+
+    # Find and remove all tags named "sensor" that are child of 
+    # root node (i.e. robot)
+    for sensors_tag in root.findall("sensor"):
+        root.remove(sensors_tag)
+
+    # Convert the modified XML back to a string
+    modified_xml_string = ET.tostring(root)
+
+    return modified_xml_string
 
 class URDFModelFactory(ModelFactory):
     """This factory generates robot elements from urdf_parser_py
@@ -21,7 +35,16 @@ def __init__(self, path: str, math: SpatialMath):
         if not path.exists():
             raise FileExistsError(path)
 
-        self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_file(path)
+        # Read URDF, but before passing it to urdf_parser_py get rid of all sensor tags
+        # sensor tags are valid elements of URDF (see ), 
+        # but they are ignored by urdf_parser_py, that complains every time it sees one.
+        # As there is nothing to be fixed in the used models, and it is not useful
+        # to have a useless and noisy warning, let's remove before hands all the sensor elements,
+        # that anyhow are not parser by urdf_parser_py or adam
+        # See https://github.com/ami-iit/ADAM/issues/59
+        xml_string = open(path, 'r').read()
+        xml_string_without_sensors_tags = urdf_remove_sensors_tags(xml_string)
+        self.urdf_desc = urdf_parser_py.urdf.URDF.from_xml_string(xml_string_without_sensors_tags)
         self.name = self.urdf_desc.name
 
     def get_joints(self) -> List[StdJoint]: