[Mujoco parser] Silently ignore some attributes/elements.

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.
RobotLocomotion · Jan 25, 2025 · a692143 · a692143
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diff --git a/multibody/parsing/detail_mujoco_parser.cc b/multibody/parsing/detail_mujoco_parser.cc
@@ -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");
 
@@ -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,
@@ -517,14 +525,11 @@ 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
     WarnUnsupportedAttribute(*node, "group");
     WarnUnsupportedAttribute(*node, "springdamper");
-    WarnUnsupportedAttribute(*node, "solreflimit");
-    WarnUnsupportedAttribute(*node, "solimplimit");
-    WarnUnsupportedAttribute(*node, "solreffriction");
-    WarnUnsupportedAttribute(*node, "solimpfriction");
     WarnUnsupportedAttribute(*node, "stiffness");
-    WarnUnsupportedAttribute(*node, "margin");
     WarnUnsupportedAttribute(*node, "springref");
     WarnUnsupportedAttribute(*node, "frictionloss");
     WarnUnsupportedAttribute(*node, "user");
@@ -913,8 +918,6 @@ class MujocoParser {
       // that mjcf authors can configure this behavior.
     }
 
-    WarnUnsupportedAttribute(*node, "priority");
-
     std::string material;
     if (ParseStringAttribute(node, "material", &material)) {
       if (material_.contains(material)) {
@@ -957,11 +960,8 @@ 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
     WarnUnsupportedAttribute(*node, "fitscale");
     WarnUnsupportedAttribute(*node, "user");
 
@@ -1122,13 +1122,19 @@ 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;
@@ -1157,10 +1163,19 @@ 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;
@@ -1222,10 +1237,10 @@ 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");
-    WarnUnsupportedElement(*node, "light");
     WarnUnsupportedElement(*node, "pair");
     WarnUnsupportedElement(*node, "tendon");
     WarnUnsupportedElement(*node, "general");
@@ -1257,12 +1272,17 @@ 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)) {
@@ -1351,49 +1371,58 @@ 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") {
@@ -1434,8 +1463,6 @@ class MujocoParser {
       meshdir_ = meshdir;
     }
 
-    WarnUnsupportedAttribute(*node, "fitaabb");
-
     std::string eulerseq;
     if (ParseStringAttribute(node, "eulerseq", &eulerseq)) {
       if (eulerseq.size() != 3 ||
@@ -1452,12 +1479,6 @@ 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:
@@ -1479,7 +1500,20 @@ 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");
   }
@@ -1555,13 +1589,17 @@ 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
@@ -1703,9 +1741,8 @@ class MujocoParser {
         }
       }
 
+      // Silently ignored: solref, solimp.
       WarnUnsupportedAttribute(*connect_node, "active");
-      WarnUnsupportedAttribute(*connect_node, "solref");
-      WarnUnsupportedAttribute(*connect_node, "solimp");
     }
 
     // TODO(russt): "weld" and "distance" constraints are already supported by
@@ -1881,13 +1918,19 @@ 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);
   }
@@ -1911,6 +1954,16 @@ 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_;

diff --git a/multibody/parsing/parsing_doxygen.h b/multibody/parsing/parsing_doxygen.h
@@ -34,6 +34,59 @@ for any unsupported MuJoCo XML elements or attributes at runtime.
 
 <!-- TODO(rpoyner-tri): document mujoco format support -->
 
+@subsection mjcf_ignored_silent Tags ignored silently
+
+The following attributes are specific to the MuJoCo solver (listed here in the
+order they are listed in the MuJoCo documentation); we have no plans to support
+them:
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#option>`/option/`</a>
+  - `@apirate`
+  - `@impratio`
+  - `@jacobian`
+  - `@o_margin`
+  - `@o_solref`
+  - `@o_solimp`
+  - `@o_friction`
+  - `@solver`
+  - `@iterations`
+  - `@tolerance`
+  - `@ls_iterations`
+  - `@ls_tolerance`
+  - `@noslip_iterations`
+  - `@noslip_tolerance`
+  - `@ccd_iterations`
+  - `@ccd_tolerance`
+  - `@sdf_iterations`
+  - `@sdf_tolerance`
+  - `@sdf_initpoints`
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#compiler>`/compiler/`</a>
+  - `@usethread`
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#size>`/size`</a>
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-joint>`/body/joint/`</a>
+  - `@solreflimit`
+  - `@solimplimit`
+  - `@solreffriction`
+  - `@solimpfriction`
+  - `@margin`
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#body-geom>`/body/geom/`</a>
+  - `@priority`
+  - `@solmix`
+  - `@solref`
+  - `@solimp`
+  - `@margin`
+  - `@gap`
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#contact-pair>`/contact/pair/`</a>
+  - `@solref`
+  - `@solimp`
+  - `@solreffriction`
+  - `@margin`
+  - `@gap`
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#equality-connect>`/equality/connect/`</a>
+  - `@solref`
+  - `@solimp`
+- <a href=https://mujoco.readthedocs.io/en/stable/XMLreference.html#custom>`/custom`</a>
+
+
 @section multibody_parsing_sdf SDFormat Support
 Drake supports SDFormat files following the specification at
 http://sdformat.org/spec. As of this writing, the supported spec version is