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[Mujoco parser] Silently ignore some attributes/elements. #22493

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Jan 27, 2025
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[Mujoco parser] Silently ignore some attributes/elements. #22493

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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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