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[Mujoco parser] Silently ignore some attributes/elements.
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Now that MuJoCo has space in `parsing_doxygen.h` where we can list
"silently ignored" attributes and elements, this PR goes through and
silences those elements that we will never support (and reasonable
users would not expected us to support).

This will help cut down a bit on the substantial noise coming out of
the parser.

It also adds a few new warnings for new attributes and elements that
have managed to spring up in the mujoco documentation.
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@RussTedrake
RussTedrake committed Jan 25, 2025
1 parent 88e24c7 commit d05eace
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Showing 2 changed files with 192 additions and 59 deletions.
198 changes: 139 additions & 59 deletions multibody/parsing/detail_mujoco_parser.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -319,6 +319,8 @@ class MujocoParser {
}
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator-motor
WarnUnsupportedAttribute(*node, "class");
WarnUnsupportedAttribute(*node, "group");

Expand Down Expand Up @@ -395,10 +397,16 @@ class MujocoParser {
position_node = position_node->NextSiblingElement("position")) {
ParseMotorOrPosition(position_node);
}
// Unsupported elements are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#actuator
WarnUnsupportedElement(*node, "general");
WarnUnsupportedElement(*node, "velocity");
WarnUnsupportedElement(*node, "intvelocity");
WarnUnsupportedElement(*node, "damper");
WarnUnsupportedElement(*node, "cylinder");
WarnUnsupportedElement(*node, "muscle");
WarnUnsupportedElement(*node, "adhesion");
WarnUnsupportedElement(*node, "plugin");
}

void ParseJoint(XMLElement* node, const RigidBody<double>& parent,
Expand Down Expand Up @@ -517,14 +525,20 @@ class MujocoParser {
armature_.emplace(index, armature);
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint
// The ignored attributes are specific to the MuJoCo solver.
WarnUnsupportedAttribute(*node, "group");
WarnUnsupportedAttribute(*node, "springdamper");
WarnUnsupportedAttribute(*node, "solreflimit");
WarnUnsupportedAttribute(*node, "solimplimit");
WarnUnsupportedAttribute(*node, "solreffriction");
WarnUnsupportedAttribute(*node, "solimpfriction");
LogIgnoredAttribute(*node, "solreflimit");
LogIgnoredAttribute(*node, "solimplimit");
LogIgnoredAttribute(*node, "solreffriction");
LogIgnoredAttribute(*node, "solimpfriction");
WarnUnsupportedAttribute(*node, "stiffness");
WarnUnsupportedAttribute(*node, "margin");
WarnUnsupportedAttribute(*node, "actuatorfrcrange");
WarnUnsupportedAttribute(*node, "actuatorfrclimited");
WarnUnsupportedAttribute(*node, "actuatorgravcomp");
LogIgnoredAttribute(*node, "margin");
WarnUnsupportedAttribute(*node, "springref");
WarnUnsupportedAttribute(*node, "frictionloss");
WarnUnsupportedAttribute(*node, "user");
Expand Down Expand Up @@ -913,8 +927,6 @@ class MujocoParser {
// that mjcf authors can configure this behavior.
}

WarnUnsupportedAttribute(*node, "priority");

std::string material;
if (ParseStringAttribute(node, "material", &material)) {
if (material_.contains(material)) {
Expand Down Expand Up @@ -957,12 +969,20 @@ class MujocoParser {
}
}

WarnUnsupportedAttribute(*node, "solmix");
WarnUnsupportedAttribute(*node, "solref");
WarnUnsupportedAttribute(*node, "solimp");
WarnUnsupportedAttribute(*node, "margin");
WarnUnsupportedAttribute(*node, "gap");
// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-geom
// The ignored attributes are specific to the MuJoCo solver.
LogIgnoredAttribute(*node, "priority");
WarnUnsupportedAttribute(*node, "shellinertia");
LogIgnoredAttribute(*node, "solmix");
LogIgnoredAttribute(*node, "solref");
LogIgnoredAttribute(*node, "solimp");
LogIgnoredAttribute(*node, "margin");
LogIgnoredAttribute(*node, "gap");
// The hfield attribute is covered by the type=="hfield" warning.
WarnUnsupportedAttribute(*node, "fitscale");
WarnUnsupportedAttribute(*node, "fluidshape");
WarnUnsupportedAttribute(*node, "fluidcoef");
WarnUnsupportedAttribute(*node, "user");

if (compute_inertia) {
Expand Down Expand Up @@ -1122,13 +1142,19 @@ class MujocoParser {
}
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#body
WarnUnsupportedAttribute(*node, "mocap");
WarnUnsupportedAttribute(*node, "gravcomp");
WarnUnsupportedAttribute(*node, "user");

WarnUnsupportedElement(*node, "site");
WarnUnsupportedElement(*node, "camera");
WarnUnsupportedElement(*node, "light");
WarnUnsupportedElement(*node, "composite");
WarnUnsupportedElement(*node, "flexcomp");
WarnUnsupportedElement(*node, "plugin");
WarnUnsupportedElement(*node, "attach");
WarnUnsupportedElement(*node, "frame");

// Parses child body elements.
for (XMLElement* link_node = node->FirstChildElement("body"); link_node;
Expand Down Expand Up @@ -1157,10 +1183,19 @@ class MujocoParser {
}
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#body
WarnUnsupportedAttribute(*node, "mocap");
WarnUnsupportedAttribute(*node, "gravcomp");
WarnUnsupportedAttribute(*node, "user");
WarnUnsupportedElement(*node, "site");
WarnUnsupportedElement(*node, "camera");
WarnUnsupportedElement(*node, "light");
WarnUnsupportedElement(*node, "composite");
WarnUnsupportedElement(*node, "flexcomp");
WarnUnsupportedElement(*node, "plugin");
WarnUnsupportedElement(*node, "attach");
WarnUnsupportedElement(*node, "frame");

// Parses child body elements.
for (XMLElement* link_node = node->FirstChildElement("body"); link_node;
Expand Down Expand Up @@ -1222,6 +1257,8 @@ class MujocoParser {
ParseDefault(default_node, class_name);
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#default-r
WarnUnsupportedElement(*node, "material");
WarnUnsupportedElement(*node, "site");
WarnUnsupportedElement(*node, "camera");
Expand Down Expand Up @@ -1257,12 +1294,17 @@ class MujocoParser {
if (default_mesh_.contains(class_name)) {
ApplyDefaultAttributes(*default_mesh_.at(class_name), mesh_node);
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#mesh
WarnUnsupportedAttribute(*mesh_node, "smoothnormal");
WarnUnsupportedAttribute(*mesh_node, "maxhullvert");
WarnUnsupportedAttribute(*mesh_node, "vertex");
// Note: "normal" and "face" are not supported either, but that lack of
// support is implied by us not supporting "vertex".
// Note: "normal", "face", and "texcoord" are not supported either, but
// that lack of support is implied by us not supporting "vertex".
WarnUnsupportedAttribute(*mesh_node, "refpos");
WarnUnsupportedAttribute(*mesh_node, "refquat");
WarnUnsupportedElement(*mesh_node, "plugin");

std::string file;
if (ParseStringAttribute(mesh_node, "file", &file)) {
Expand Down Expand Up @@ -1351,49 +1393,58 @@ class MujocoParser {
"https://drake.mit.edu/troubleshooting.html for "
"additional resources.");
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#asset
WarnUnsupportedElement(*node, "hfield");
WarnUnsupportedElement(*node, "skin");
}

void ParseOption(XMLElement* node) {
WarnUnsupportedAttribute(*node, "timestep");
WarnUnsupportedAttribute(*node, "apirate");
WarnUnsupportedAttribute(*node, "impratio");

Vector3d gravity;
if (ParseVectorAttribute(node, "gravity", &gravity)) {
// Note: This changes gravity for the entire plant (including models that
// existed before this parser).
plant_->mutable_gravity_field().set_gravity_vector(gravity);
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#option
// Some of these attributes are silently ignored since they are specific to
// the mujoco solvers, and don't have a direct equivalent in Drake.
WarnUnsupportedAttribute(*node, "timestep");
LogIgnoredAttribute(*node, "apirate");
LogIgnoredAttribute(*node, "impratio");
WarnUnsupportedAttribute(*node, "wind");
WarnUnsupportedAttribute(*node, "magnetic");
WarnUnsupportedAttribute(*node, "density");
WarnUnsupportedAttribute(*node, "viscosity");
WarnUnsupportedAttribute(*node, "o_margin");
WarnUnsupportedAttribute(*node, "o_solref");
WarnUnsupportedAttribute(*node, "o_solimp");
LogIgnoredAttribute(*node, "o_margin");
LogIgnoredAttribute(*node, "o_solref");
LogIgnoredAttribute(*node, "o_solimp");
LogIgnoredAttribute(*node, "o_friction");
WarnUnsupportedAttribute(*node, "integrator");
WarnUnsupportedAttribute(*node, "collision");
WarnUnsupportedAttribute(*node, "cone");
WarnUnsupportedAttribute(*node, "jacobian");
WarnUnsupportedAttribute(*node, "solver");
WarnUnsupportedAttribute(*node, "iterations");
WarnUnsupportedAttribute(*node, "tolerance");
WarnUnsupportedAttribute(*node, "noslip_iterations");
WarnUnsupportedAttribute(*node, "noslip_tolerance");
WarnUnsupportedAttribute(*node, "mpr_iterations");
WarnUnsupportedAttribute(*node, "mpr_tolerance");
LogIgnoredAttribute(*node, "jacobian");
LogIgnoredAttribute(*node, "solver");
LogIgnoredAttribute(*node, "iterations");
LogIgnoredAttribute(*node, "tolerance");
LogIgnoredAttribute(*node, "ls_iterations");
LogIgnoredAttribute(*node, "ls_tolerance");
LogIgnoredAttribute(*node, "noslip_iterations");
LogIgnoredAttribute(*node, "noslip_tolerance");
LogIgnoredAttribute(*node, "ccd_iterations");
LogIgnoredAttribute(*node, "ccd_tolerance");
LogIgnoredAttribute(*node, "sdf_iterations");
LogIgnoredAttribute(*node, "sdf_tolerance");
LogIgnoredAttribute(*node, "sdf_initpoints");
WarnUnsupportedAttribute(*node, "actuatorgroupdisable");
WarnUnsupportedElement(*node, "flag");
}

void ParseCompiler(XMLElement* node) {
autolimits_ = node->BoolAttribute("autolimits", true);
WarnUnsupportedAttribute(*node, "boundmass");
WarnUnsupportedAttribute(*node, "boundinertia");
WarnUnsupportedAttribute(*node, "settotalmass");
WarnUnsupportedAttribute(*node, "balanceinertia");
WarnUnsupportedAttribute(*node, "strippath");

std::string coordinate;
if (ParseStringAttribute(node, "coordinate", &coordinate)) {
if (coordinate != "local") {
Expand Down Expand Up @@ -1434,8 +1485,6 @@ class MujocoParser {
meshdir_ = meshdir;
}

WarnUnsupportedAttribute(*node, "fitaabb");

std::string eulerseq;
if (ParseStringAttribute(node, "eulerseq", &eulerseq)) {
if (eulerseq.size() != 3 ||
Expand All @@ -1452,12 +1501,6 @@ class MujocoParser {
}
}

WarnUnsupportedAttribute(*node, "texturedir");
WarnUnsupportedAttribute(*node, "discardvisual");
WarnUnsupportedAttribute(*node, "convexhull");
// Note: we intentionally (silently) ignore "usethread" attribute.
WarnUnsupportedAttribute(*node, "fusestatic");

bool flag;
switch (node->QueryBoolAttribute("inertiafromgeom", &flag)) {
case tinyxml2::XML_SUCCESS:
Expand All @@ -1479,7 +1522,20 @@ class MujocoParser {
// Ok. No attribute to set.
break;
}
WarnUnsupportedAttribute(*node, "exactmeshinertia");

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler
WarnUnsupportedAttribute(*node, "boundmass");
WarnUnsupportedAttribute(*node, "boundinertia");
WarnUnsupportedAttribute(*node, "settotalmass");
WarnUnsupportedAttribute(*node, "balanceinertia");
WarnUnsupportedAttribute(*node, "strippath");
WarnUnsupportedAttribute(*node, "fitaabb");
WarnUnsupportedAttribute(*node, "texturedir");
WarnUnsupportedAttribute(*node, "discardvisual");
LogIgnoredAttribute(*node, "usethread"); // specific to MuJoCo runtime.
WarnUnsupportedAttribute(*node, "fusestatic");
WarnUnsupportedAttribute(*node, "alignfree");
WarnUnsupportedAttribute(*node, "inertiagrouprange");
WarnUnsupportedElement(*node, "lengthrange");
}
Expand Down Expand Up @@ -1555,13 +1611,17 @@ class MujocoParser {
continue;
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#contact-pair
// Silently ignored attributes a very specific to the MuJoCo solver.
WarnUnsupportedAttribute(*pair_node, "class");
WarnUnsupportedAttribute(*pair_node, "condim");
WarnUnsupportedAttribute(*pair_node, "friction");
WarnUnsupportedAttribute(*pair_node, "solref");
WarnUnsupportedAttribute(*pair_node, "solimp");
WarnUnsupportedAttribute(*pair_node, "margin");
WarnUnsupportedAttribute(*pair_node, "gap");
LogIgnoredAttribute(*pair_node, "solref");
LogIgnoredAttribute(*pair_node, "solimp");
LogIgnoredAttribute(*pair_node, "solreffriction");
LogIgnoredAttribute(*pair_node, "margin");
LogIgnoredAttribute(*pair_node, "gap");

if (plant_->get_adjacent_bodies_collision_filters()) {
// If true, then Finalize will declare a collision filter which
Expand Down Expand Up @@ -1703,20 +1763,24 @@ class MujocoParser {
}
}

// Unsupported attributes are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#equality-connect
// The ignored attributes are specific to the MuJoCo solver.
WarnUnsupportedAttribute(*connect_node, "active");
WarnUnsupportedAttribute(*connect_node, "solref");
WarnUnsupportedAttribute(*connect_node, "solimp");
LogIgnoredAttribute(*connect_node, "solref");
LogIgnoredAttribute(*connect_node, "solimp");
}

// TODO(russt): "weld" and "distance" constraints are already supported by
// MultibodyPlant and should be easy to add. But note that "distance"
// constraints were removed in MuJoCo version 2.2.2.
WarnUnsupportedElement(*node, "weld");
WarnUnsupportedElement(*node, "distance");
// TODO(russt): "weld" constraints are already supported by MultibodyPlant
// and should be easy to add.

// Unsupported elements are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#equality
WarnUnsupportedElement(*node, "weld");
WarnUnsupportedElement(*node, "joint");
WarnUnsupportedElement(*node, "tendon");
WarnUnsupportedElement(*node, "flex");
WarnUnsupportedElement(*node, "distance"); // removed in MuJoCo 2.2.2
}

// Updates node by recursively replacing any <include> elements under it with
Expand Down Expand Up @@ -1881,13 +1945,19 @@ class MujocoParser {
ParseEquality(equality_node);
}

WarnUnsupportedElement(*node, "size");
WarnUnsupportedElement(*node, "visual");
// Unsupported elements are listed in the order from the MuJoCo docs:
// https://mujoco.readthedocs.io/en/stable/XMLreference.html#mjcf-reference
LogIgnoredElement(*node,
"size"); // specific memory allocation for MuJoCo solver.
WarnUnsupportedElement(*node, "statistic");
WarnUnsupportedElement(*node, "custom");
WarnUnsupportedElement(*node, "deformable");
WarnUnsupportedElement(*node, "tendon");
WarnUnsupportedElement(*node, "sensor");
WarnUnsupportedElement(*node, "keyframe");
WarnUnsupportedElement(*node, "visual");
// custom variables for MuJoCo; we don't plan to have a Drake equivalent.
LogIgnoredElement(*node, "custom");
WarnUnsupportedElement(*node, "extension");

return std::make_pair(model_instance_, model_name);
}
Expand All @@ -1911,6 +1981,16 @@ class MujocoParser {
diagnostic_.WarnUnsupportedAttribute(node, attribute);
}

void LogIgnoredAttribute(const XMLElement& node,
const std::string& attribute) {
log()->debug("Ignored attribute: {} on element: {}", attribute,
node.Value());
}

void LogIgnoredElement(const XMLElement& node, const std::string& element) {
log()->debug("Ignored element: {} in element: {}", element, node.Value());
}

private:
const ParsingWorkspace& workspace_;
TinyXml2Diagnostic diagnostic_;
Expand Down
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